servo drives - groneman b.v. servo... · 2019-03-27 · servo drives 11 840 edition 24 subect to...
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SERVO DRIVES
11
839EDITION 24SUBJECT TO ALTERATIONS
SERVO DRIVES
The wide range of drive products allows rapid implementation of simple applications with two end positions, up to complex, high-precision multi-axis applications with synchronization to a main electronic shaft.
The servo drives cover a wide range in terms of performance. Controlling small actuators with low power as well as high-power servomotors with direct feed from the three-phase network can be realized.
SERVO DRIVES
11
840EDITION 24
SUBJECT TO ALTERATIONS
/ INTRODUCTION /
LinMot Servo Drives
LinMot Servo Drives are highly integrated inverters with one or more power elements, for controlling the motors, and an intelli-gent control element with integrated position regulation. The control element performs all drive-related control and monitoring functions. It allows direct position set points, or travel along internally stored motion profiles from the overlaid control, using simple analog or digital signals. Additionally, using the technology functions or a customer-specific software application, com-plete sequences or functions can be implemented for customerspecific applications.
The basic functions include communication with the overlaid control, generation of target values for speed and accelera-tion-limited point-to-point motions, travel along motion pro-files, synchronization of drives to an electronic main or master shaft, and synchronization in multi-axis applications.
The basic functions of the Servo Drive, such as position and current control; control and monitoring of the power element; and monitoring the motor temperature, power, and position are handled by the control, monitoring, and regulation ele-ment, which also controls the entire finite state machine of the drive.
LinMot Drives have all common fieldbus interfaces available for connection to a master controller. In order to realize sim-ple control concept integration, extensive function blocks and programming examples are provided for the customer. These function blocks allow for direct and quick LinMot drive integration. The function blocks run standard functions as well as commands such as drive parameterization and con-figuration directly from the controller. The complete drive
configuration of the corresponding axis is thus stored on the controller. Maintenance or replacement can be easily real-ized via automatic drives detection and configuration over the communication bus. Thus manual and time-consuming configuration of the drives in case of failure is eliminated.
APPLICATION SOFTWARE TECHNOLOGY FUNCTIONS
BASIC FUNCTIONS MONITORING AND CONTROL
SPS LIBRARIES AND PROGRAMMING EXAMPLES
ApplicationSo�ware
TechnologyFunctions
Basic Functions
Monitoring and Control Functions
Force Feedback
TriggerEvents
TimeCurves
PositionStreaming
VA-Interpolator
Motor
com
mun
icatio
nMot
or M
onito
ring
I/O M
onito
ring
Bus M
arke
ting
Hardw
are M
onito
ring
Curre
nt C
ontro
lPo
sitio
n Co
ntro
lSp
eed
Cont
rol
Star
e Con
trol
Forc
e Con
trol
Master Encoder
CommandTable
FieldbusInterface
Winding
Using a software application, customer-specific ap-plications can be programmed directly in the drive. This is mainly an advantage when very fast se-quences need to be implemented, for which the communication speed or computing power of the overlaid control are not sufficient.
Technology functions are generally available function-al blocks that provide a complete solution for stand-
ard applications. The technology function can take over complete sequence control of a process.
With the technology function "winding textile yarns", only a few parameters are provided by
the overlaid control, such as the number of windings. The complete winding process
then takes place automatically.
SERVO DRIVES
11
841EDITION 24SUBJECT TO ALTERATIONS
/ INTRODUCTION /
Characteristics
Because of their high dynamic capabili-ties, long life, and ability to travel to sev-eral positions, LinMot linear motors are of-ten used as a replacement for pneumatic cylinders.
Various end positions can be stored in the drive and are invoked via digital signals, just as with a pneumatic cylinder. Once the end position is reached, this is report-ed to the overlaid control via the In-posi-tion signal on a digital output. Speed and acceleration can be configured freely for each motion.
In multi-axes or linked operation, the mas-ter encoder interface can control both in-dividually and synchronous to a main or master shaft.
For complex designs, several axes can be synchronized in master-booster or mas-tergantry mode. This allows simple im-plementation of portal designs with two synchronized axes, which are controlled by the overlaid control as a single axis.
LinMot motors with the plug and play func-tionality are automatically recognized by the A1100 / C1200 / C1100 / E1200 / E1400 servo drives and are immediately ready for use.
The servo drive reads these values when it boots up, and sets the parameters ac-cordingly. This automatic device detection eliminates the selection of the required model parameters from an extensive li-brary. Without having the configuration software to boot, first commands can be sent directly by the PLC control.
Travel along paths from an overlaid NC drive can be implemented via the +/-10V interface, or in streaming mode (PVT, PV).
The predetermined points are calculated rapidly, so that even irregular and com-plex curves are realized dynamically.
Using LinMot Servo Drives, rotary servo-motors can be used as well as linear mo-tors, or any 1/2/3-phase actuators.
Primarily in assembly automation and feeding applications, small, light brush-less DC motors (EC motors) are often needed to rotate a gripper about the Z-ax-is. The flexibility of the Servo Drive allows such rotary motors to be integrated into the existing controls concept in the same simple manner as linear motors.
In order to prevent unintended startup, the model C1200 / C1100 / E1200 / E1400 drives have an STO function to safely shut off the output stage. The drive cannot produce any more force when shut off using the "Safe Torque Off" function. A functional safety is currently under prepa-ration and can already be solved today with external components.
To simplify the integration of differ-ent axes, the C Series Servo Drives are equipped with PROFIdrive, Sercos III, SoE (SercosOver-Ethercat) and CoE (CiA402). By using device profiles, the integration of „foreign“ Drives in the motion control is simplified. Further positive aspects are the automatic data exchange in real time and the increase of determinism in the system.
The current LinMot Drives are marked with CE and approved as components according to the UL regulation for varia-ble-frequency controllers. Thus they meet the requirements for the US and Canadi-an market.
Complex applications with synchroni-zation to a main or master shaft can be implemented without trouble using the integrated master encoder interface. All incoming signals from the main shaft are processed by the LinMot Drive and depend on the movement type of the linear motor.
Together with a high-resolution, exter-nal position sensor, even high-precision positioning tasks in μm range can be handled.
POINT-TO-POINT MOTIONS
MULTI-AXIS OPERATION
PLUG AND PLAY
NC MOTION
LINEAR AND ROTARY DRIVES
INTEGRATED SAFETY FUNCTION
HIGH-END APPLICATIONS
STANDARDIZED DEVICE PROFILES
CERTIFICATION
SERVO DRIVES
11
842EDITION 24
SUBJECT TO ALTERATIONS
Configuration with LinMot Talk
LinMot Talk configuration software is a Windows- based interface that supports the user during start-up and configuration of the LinMot Servo Drives. The software has a powerful, modular, graphical interface that covers all the tasks surrounding the LinMot Servo Drive. Using LinMot Talk PC interface, the engineer can configure LinMot servo drives. The motors are also monitored dur-ing operation and the current motion sequences are analysed (monitoring). The integrated control panel gives the user direct access to the control and status words, as well as all commands that are invoked by the upper-level controller.
Using the "Parameter Inspector," the drives are parameterized in a simple manner. The user has a wide range of adjustments available for operating modes, error management, warning messages, and regulating parameters. Entire parameter sets can be stored, loaded, and printed out.
The "Curve Editor" allows creation of travel curves. In addition, existing curves can be loaded, stored, edited, com-bined, and printed out. Further, complex motion sequences can be generated as desired in MS Excel, and loaded into the drive.
The integrated oscilloscope helps the user during start-up and optimization of the Parameterization Optimization Mon-itoring drive system. Internal variables, such as the target and actual position, can be shown in real time on the screen, and then printed out. The displayed data can be stored in CSV format for further processing in MS Excel, or stored for doc-umentation purposes.
Using the "Error Inspector," the user can read out stored errors, as well as the cur-rently active warnings and error messages in the LinMot Servo Drive. A list of the last error messages are stored in non-volatile memory on the Servo Drive, together with the operating hours counter.
PARAMETERIZATION
CURVE EDITOR
OPTIMIZATION
MONITORING
CURVE EDITOR
OSCILLOSCOPE
/ INTRODUCTION /
SERVO DRIVES
11
843EDITION 24SUBJECT TO ALTERATIONS
A1100
C1200
C1100
E1200
Space-saving servo drive for instrument engineering
Servo Drive for demanding tasks with axis, NC synchro-nization and an industrial ETHERNET interface.
Compact drive for an ideal use in point-to-point applications.
High-End Servo Drive with configuration via ETHERNET.
Overview Servo Drives
/ INTRODUCTION /
C1400
Servo Drive with direct pow-er supply for simple motions as well as complex axis synchronization. Designed to control the P10 motor family.
E1400
Servo Drive for P10 motors with direct main supply and 3x400 VAC technology. Equipped with an ETHERNET Config. interface.
SERVO DRIVES
11
844EDITION 24
SUBJECT TO ALTERATIONS
Technical Specifications
A1100 C1100 C1200 E1200 C1400 E1400Motor Supply
24…72VDC 24…72VDC 24…72VDC 24…72VDC 1x200...240VAC 3x400…480VAC
Motor Current
8Apk 25Apk 25Apk 32Apk 15Apk 28Apk
Control of
LinMot Motors P0x/ PR01 • • • •LinMot Motors P10 • •Rotary Motors • • • • •EC02 Motors • • •AC Servo Motors • •3rd Party Motors • • •Functionality
Point-to-Point Point-to-Point Point-to-Point Point-to-Point Point-to-Point Point-to-Point
Command Table Closed Loop Force Control Limited jerk motion commands NC Motion Limited jerk motion commands Limited jerk motion commands
Motion Profiles Command Table NC Motion Master Encoder / CAM NC Motion NC Motion
Motion Profiles Closed Loop Force Control Belt Synchronization Master Encoder / CAM Master Encoder / CAM
Command Table Master Booster (up to 4 slaves) Belt Synchronization Belt Synchronization
Motion Profiles Master Gantry (up to 4 slaves) Closed Loop Force Control Master Booster (up to 4 slaves)
Winding Application Command Table Master Gantry (up to 4 slaves)
Closed Loop Force Control Motion Profiles Winding Application
Command Table Closed Loop Force Control
Motion Profiles Command Table
Motion Profiles
Ethernet & FieldbusesCANOpen PROFINET PROFINET PROFINET PROFINET PROFINET
EtherCAT (LinMot Profile) PROFINET Profidrive PROFINET Profidrive PROFINET Profidrive PROFINET Profidrive
EtherCAT (CiA402) EtherNet/IP EtherNet/IP EtherNet/IP EtherNet/IP
EtherCAT (SoE) Sercos III Sercos III Sercos III Sercos III
CANOpen Powerlink Powerlink Powerlink Powerlink
LinUDP LinUDP LinUDP LinUDP
EtherCAT Profibus DP CANOpen Profibus DP
EtherCAT (CiA402) CANOpen EtherCAT CANOpen
EtherCAT (SoE) EtherCAT EtherCAT (CiA402) EtherCAT
EtherCAT (CiA402) EtherCAT (SoE) EtherCAT (CiA402)
EtherCAT (SoE) EtherCAT (SoE)
LinRS LinRS
InterfacesAnalog Inputs 0..10V / +-10V 1 / 0 1/1 1/1 2/1 1/1 2/1
Number of digital Inputs / Outputs 6 / 2 4/2 4/2 8 4/2 8
Brake Output (-) 24V/0.5A 24V/0.5A 24V/1.0A 24V/1.5A 24V/1.5A
External EncoderA/B/Z (RS422) A/B/Z (RS422) A/B/Z (RS422) A/B/Z (RS422) A/B/Z (RS422)
SSI SSI Sin/Cos (1Vpp) SSI SSI
BISS BISS SSI (only position recovery) BISS BISS
EnDat EnDat EnDat
TimingsMin. Bus Cycle Time 250 μs 250 μs 125 μs 200 μs 250 μs 250 μs
PWM Frequency 16 kHz 16 kHz 16 kHz 20 kHz 8 kHz 8 kHz
Trigger Commands ≥ 250 μs ≥ 250 μs ≥ 125 μs ≥ 100 μs ≥ 125 μs ≥ 125 μs
Position Drive 250 μs 250 μs 125 μs 100 μs 125 μs 125 μs
ConfigurationRS 232 • • • • • •ETHERNET • • • •ETHERNET –Maintenance • •
/ INTRODUCTION /
SERVO DRIVES
11
845EDITION 24SUBJECT TO ALTERATIONS
A1100 C1100 C1200 E1200 C1400 E1400Motor Supply
24…72VDC 24…72VDC 24…72VDC 24…72VDC 1x200...240VAC 3x400…480VAC
Motor Current
8Apk 25Apk 25Apk 32Apk 15Apk 28Apk
Control of
LinMot Motors P0x/ PR01 • • • •LinMot Motors P10 • •Rotary Motors • • • • •EC02 Motors • • •AC Servo Motors • •3rd Party Motors • • •Functionality
Point-to-Point Point-to-Point Point-to-Point Point-to-Point Point-to-Point Point-to-Point
Command Table Closed Loop Force Control Limited jerk motion commands NC Motion Limited jerk motion commands Limited jerk motion commands
Motion Profiles Command Table NC Motion Master Encoder / CAM NC Motion NC Motion
Motion Profiles Closed Loop Force Control Belt Synchronization Master Encoder / CAM Master Encoder / CAM
Command Table Master Booster (up to 4 slaves) Belt Synchronization Belt Synchronization
Motion Profiles Master Gantry (up to 4 slaves) Closed Loop Force Control Master Booster (up to 4 slaves)
Winding Application Command Table Master Gantry (up to 4 slaves)
Closed Loop Force Control Motion Profiles Winding Application
Command Table Closed Loop Force Control
Motion Profiles Command Table
Motion Profiles
Ethernet & FieldbusesCANOpen PROFINET PROFINET PROFINET PROFINET PROFINET
EtherCAT (LinMot Profile) PROFINET Profidrive PROFINET Profidrive PROFINET Profidrive PROFINET Profidrive
EtherCAT (CiA402) EtherNet/IP EtherNet/IP EtherNet/IP EtherNet/IP
EtherCAT (SoE) Sercos III Sercos III Sercos III Sercos III
CANOpen Powerlink Powerlink Powerlink Powerlink
LinUDP LinUDP LinUDP LinUDP
EtherCAT Profibus DP CANOpen Profibus DP
EtherCAT (CiA402) CANOpen EtherCAT CANOpen
EtherCAT (SoE) EtherCAT EtherCAT (CiA402) EtherCAT
EtherCAT (CiA402) EtherCAT (SoE) EtherCAT (CiA402)
EtherCAT (SoE) EtherCAT (SoE)
LinRS LinRS
InterfacesAnalog Inputs 0..10V / +-10V 1 / 0 1/1 1/1 2/1 1/1 2/1
Number of digital Inputs / Outputs 6 / 2 4/2 4/2 8 4/2 8
Brake Output (-) 24V/0.5A 24V/0.5A 24V/1.0A 24V/1.5A 24V/1.5A
External EncoderA/B/Z (RS422) A/B/Z (RS422) A/B/Z (RS422) A/B/Z (RS422) A/B/Z (RS422)
SSI SSI Sin/Cos (1Vpp) SSI SSI
BISS BISS SSI (only position recovery) BISS BISS
EnDat EnDat EnDat
TimingsMin. Bus Cycle Time 250 μs 250 μs 125 μs 200 μs 250 μs 250 μs
PWM Frequency 16 kHz 16 kHz 16 kHz 20 kHz 8 kHz 8 kHz
Trigger Commands ≥ 250 μs ≥ 250 μs ≥ 125 μs ≥ 100 μs ≥ 125 μs ≥ 125 μs
Position Drive 250 μs 250 μs 125 μs 100 μs 125 μs 125 μs
ConfigurationRS 232 • • • • • •ETHERNET • • • •ETHERNET –Maintenance • •
/ INTRODUCTION /
SERVO DRIVES
/ EINLEITUNG /
11
846EDITION 24
SUBJECT TO ALTERATIONS
SERVO DRIVES
11
847EDITION 24SUBJECT TO ALTERATIONS
Absolute / relative positioning commands
Limited jerk motion commands
Time Curves
PLC or Stand-Alone Solutions
Digital IO’s
Supports Plug and Play
CE / UL / CSA
SERIES A1100
SERVO DRIVES
/ PRODUCT DESCRIPTION /
11
848EDITION 24
SUBJECT TO ALTERATIONS
Servo Drive A1100
Series A1100 drives are compact servo drives with 32-bit position resolution and integrated power stage, for linear motors.
The drives are suitable for simple and standard po-sition tasks with point-to-point motions and have a plug and play function.
The Series A1100 Servo Drives can be ac-tuated by machine controls from many manufacturers or brands, via digital in-puts, outputs, serial interface, or by CAN-open interfaces.
Fast process interfaces for direct pro-cessing of sensor signals are available as freely programmable analog and digital inputs and fast trigger inputs.
The Servo Drives need two separate power supplies for the logic and power elements.
In an E-stop and safe stop of the drive, only the motor power supply is cut off from the drive. The logic supply and the drive continue to run.
CONNECTION TO MACHINE CONTROL PROCESS AND SENSOR INTERFACES LOGIC AND POWER SUPPLY
SERVO DRIVES
/ PRODUCT DESCRIPTION /
11
849EDITION 24SUBJECT TO ALTERATIONS
System Integration
Series A1100 Servo Drives have analog in-puts and digital inputs and outputs, serial interfaces, and Bus connections. The user is therefore not dependent on the selec-tion of the higher level controller.
Additionally, the drives can be equipped with optional peripherals, such as refer-ence and end stop switches.
With flexibility and a compact form fac-tor, LinMot Series A1100 Servo Drives provide a complete solution for a flexible drive concept in single and multiple axes applications, with linear motors.
With a cyclical target value, or “positionstreaming,” the overarching NC or CNC drive communicates with the Servo Drivethrough CANopen.
The position and velocity calculated in the overarching drive is transmitted to theServo Drive cyclically. The P, PV, or PVA mode is available for this transmission.
A1100 Servo Drives provide all necessaryinterfaces to operate linear motors with optional external peripherals, such as endposition and reference switches.
Parameterization and configuration of the Servo Drive is done via RS232.
LinMot Talk user-friendly PC software is available for configuration. In addition toonline documentation, LinMot Talk pro-vides extensive debugging tools, such asan oscilloscope and an error inspector, for simple and rapid start-up of the axes.
POSITION STREAMING MOTOR INTERFACES CONFIGURATION
LogicSupply
TriggerInputs
MotorSupply
Capture
AnalogInput
RS232
Fieldbusses and interfaces to the overlaid control
LinmotServo DriveSeriesA1100
Position Drive:• 32 Bit Position Value• Resolution 0.1µm
Run Modes:• VA Interpolated Moves• Analog Position• Run Curves• Two Point Trigger
Moves• Streaming P, PV,PVA
Internal stored Curves:• Max. 50 Curves• Up to 8´000
set points
Command Table:• Up to 255
Commands
Optional Limit and Home Switches
LinMot Linear Motor
Supp
lyFa
st P
roce
ss In
puts
Conf
ig.
CAN open
Limit - Switch
Home Switch
DigitalI/O´s
Limit + Switch
Optional Brake
SERVO DRIVES
/ OPERATING MODES /
11
850EDITION 24
SUBJECT TO ALTERATIONS
For direct position targets, using absolute or relative positioning, the desired position is reached using acceleration and velocity-limited motion profiles or jerk optimized profiles ( jerk limited and Bestehorn). Positioning commands can be invoked via the serial interface, CAN-open or a trigger input.
Up to 50 different time curves can be stored in Series A1100 drives, with up to 8,000 individual set points. The motor can thus travel along time curves of any complexity, such as those generated by CAD pro-grams and stored in the drive (Excel CSV format). The time curves can be invoked via the serial interface, fieldbusses or the trigger input.
For travel to an absolute position, or shifting by a relative position, any desired motion rules can be stored besides the VA interpolator. They are stored in the drive as motion profiles (Excel CSV format). The po-sitions can be approached, for example, with a sinusoidal motion to optimize power loss, or special reverse optimized motion profiles.
Overlaid NC drives with fieldbus or Ethernet interfaces communicate with the servo drives via “Position Streaming”. The position and veloc-ity calculated in the overlaid control is transmitted to the Servo Drive cyclically. The P, PV, or PVA mode is available for this transmission.
INTERPOLATED MOVES
TIME CURVES
PROFILED MOVES
SETPOINT STREAMING
Stroke range:Position Resolution:Velocity Resolution:Acceleration Resol.:
Stroke range:Position Resolution:Motion profiles:Curve points:
Stroke range:Position Resolution:Motion profiles:Curve points:
Position Resolution:Velocity Resolution:Interpolator:Cycle times:
±100 m0.1 μm (32Bit)1.0 μm/s (32Bit)10.0 μm/s2 (32Bit)
±100m0.1 μm (32Bit)Max. 50 Time CurvesMax. 8’000 points
±100m0.1 μm (32Bit)Max. 50 Time CurvesMax. 8’000 points
32 Bit32 Bit4 kHz0.5 - 5 ms
Stroke [mm]
Stroke [mm]
Stroke [mm]
Stroke [mm]
Time [ms]
Time [ms]
Time [ms]
Time [ms]
Goto 100 mmvmax = 2,5 m/samax = 3,0 m/s2
Start Curve 1
Goto Pos 125 mmwith Profile 1
Curve 1
Curve 1
SERVO DRIVES
/ OPERATING MODES /
11
851EDITION 24SUBJECT TO ALTERATIONS
Entire motion sequences with up to 255 individual motion commands can be stored in the Command Table. This is primarily advantageous if complete motion sequences need to be executed very quickly, without dead time from the overlaid PLC. In the Command Table, the program-mer has access to all motion commands, internal parameters, and dig-ital inputs and outputs.
For an analog position target, the linear motor travels to a position pro-portional to the input voltage. The position is either scanned continu-ously, or only after a rising edge of the trigger signal. In order to prevent uncontrolled jumps in position, the motor travels to the positions with a programmable maximum acceleration and velocity (VA interpolator).
COMMAND TABLE
ANALOG POSITION
Commands:Cycle time:
Inputs:Voltage range:Resolution:Scanning rate:
max. 255250 μsec
Analog Input X440-10VDC10 Bit250 μsec
Wait Input
Terminate A
Pos 12mm
Rule 1
Start
Stop
10VPosition
0VPosition
SERVO DRIVES
/ SYSTEM OVERVIEW /
11
852EDITION 24
SUBJECT TO ALTERATIONS
A1100-GP
» Absolute & Relative Positioning » Time based motion profiles » Internally stored Motion Sequences » Position Streaming » Analog Position Target » Customer-Specific Functions
The LinMot A1100-GP drives support the CiA DS301 communica-tions protocol. The following resources are available:4 T_PDO, 4 R_PDO, 1 T_SDO, 1 R_SDO
The following protocols are also supported by the drives: » NMT Error Control (Nodeguarding Protocol
or HeartBeat Protocol) » PDO (Transmission type 1 to 254) » SDO Upload and Download » NMT (Start, Stop, Enter PreOp, Reset Node,
Reset Communication, Boot-Up Message)
Due to their simple controls via digital inputs and outputs, A1100 drives make excellent substitutes for pneumatic cylinders.
Using digital inputs or CAN bus, the linear motor can move to programmable positions. As soon as the linear motor has reached the set position, the In-Postion output is actuated.
The linear motor can thus be controlled like a programmable pneumatic cylinder with end position switches.
CANOPEN REPLACING PNEUMATICS
X1 MOT SUPPLY
PW
R+
PG
ND
1+ 1
- 2+ 2
-S
CR
X2 MOT PHASES
X3 MOTOR SENSOR
X3 1
n.c
.
6
n.c
.2
n.c
.
7
n.c
.3
+5V
DC
8
AG
ND
4
SIN
9
CO
S5
TE
MP
X7 / X
8 X13
DIFF HALL SWX13 EXT POS SENS /
1 R
S4
85
Rx+
2 R
S4
85
Rx-
3 R
S4
85
Tx+
4 G
ND
5 G
ND
6 R
S4
85
Tx-
7 C
AN
H8
CA
N L
X19 S
YS
TE
M1
Do
no
t co
nn
ect
2 D
o n
ot co
nn
ect
3 R
S2
32
RX
4 G
ND
5 G
ND
6 R
S2
32
TX
7 D
o n
ot co
nn
ect
8 D
o n
ot co
nn
ect
8
Ha
ll S
w /
W1
5
Ha
ll S
w W
7
Ha
ll S
w /
V1
4
Ha
ll S
w V
6
Ha
ll S
w /
U1
3
Ha
ll S
w U
5
GN
D1
2
Se
ns A
larm
4
Se
ns /Z
11
Se
ns Z
3
Se
ns /B
10
S
en
s B
2
Se
ns /A
9
S
en
s A
1
+5
VD
C
PE
12
3O N
Para.Def.CANTermError
24VOKEn
Warn
BusError Bus
OKBoot
A1100
X2: Motor Phases
X3: Motor Sensor
X44: Motor Peripheral I/O
LED BusS5: SwitchesLED State Indicator
X19: System Configuration RS232
X42/43: Control IN / OUT
X40/41: Supply IN / OUT
SERVO DRIVES
/ SYSTEM OVERVIEW /
11
853EDITION 24SUBJECT TO ALTERATIONS
4X19
S5
4
3
X42 / X43
X44
X3
X40 / X41
X2
PE
12
3
ON
PWR+PGND(24...85 VDC)
+24VDCDGND
ISOLATED CAN
C DIG IN 1...3
C DIG OUT 1
PH1+PH1-PH2+PH2-PE/Shield
RS232
SUPPLY3x400VAC230VAC115VAC
LOGIC SUPPLY IN
MACHINECONTROLLER,PLC,IPC
SYSTEM/CONFIG
LINEAR MOTOR
ANALOG5VSIN/COSPOSITIONSENSORTEMP INPUT
LOGIC SUPPLY OUT
DIGITAL INPUTS
ANALOG INPUT
CANopen
SINCOSTEMP.+5VDCDGND
+24VDCDGNDMP DIG IN 1MP DIG IN 2MP DIG IN 3MP DIG OUT 1AN IN (0..10V)ISO. CAN LISO. CAN HISO. CAN GND
MOTOR SUPPLY
A1100-Series
SERVO DRIVES
/ INTERFACES /
11
854EDITION 24
SUBJECT TO ALTERATIONS
6
1
5
2
3
4
X3
X2
4
5
6
1
2
3
1
2
3
4
5
X2 MOTOR PHASES
X3 MOTOR SENSOR
MOTOR LINEAR MOTOR WIRING WITH LINMOT MOTOR CABLE (K-, KS- AND KR-TYPES)
Nr Designation LinMot Linear Motor Color
1 PH1+ /U Motor Phase 1+ red
2 PH1- /V Motor Phase 1- pink
3 PH2+ /W Motor Phase 2+ blue
4 PH2- /X Motor Phase 2- grey
5 SCRN Shield
Nr LinMot Motor
1 DGND
2 Temp
3 Sensor Sine
4 +5VDC
5 (Do not connect)
6 Sensor Cosine
» Use 60/75°C copper conductors only » Cable length <30m » 13A max. current per circuit when header is mated to a receptacle loaded with a 45750
Mini-Fit® Plus HCS Crimp Terminal crimped to a 16 AWG wire
» Use +5V (X3.4) and DGND (X3.1) only for motor internal hall sensor supply (max. 100 mA) » Cable length < 30m » Caution: Do NOT connect DGND (X3.1) to ground or earth!
MolexMini-Fit Jr.™Molex Art. Nr.:50-36-1747
MolexMini-Fit 3.0™Molex Art. Nr.:43045-0600
» For the connection between the linear motor and servo drive, only the specially shielded LinMot cables of type K, KS or KR should be used. » The length of the cable can be up to 30 m between the linear motor and the servo drive. » Motor cables fabricated by the customer are to be tested with a test voltage of 1500VDC. » An improperly fabricated motor cable can damage both the linear motor and the servo drive. » The minimum bend radius is to be observed for stationary cables as well as for moving motor cables » The motor cable must not be plugged in or unplugged while voltage is still applied. » The outer shield of the motor cable has to be clamped to PE as close as possible to the drive. » A ferrite core (5mm, 144Ohm @ 100MHz, e.g. Würth Elektronik, Art.Nr.: 7427114) has to be mounted around the motor phases as close to the
drive as possible.
MolexMini-Fit 3.0™Molex Art. Nr.:43045-0600
MolexMini-Fit Jr.™Molex Art. Nr.:50-36-1747
1
2
3
4
5
4
5
6
1
2
3
BLACK
GREEN
YELLOW
INNER SHIELD
WHITE
RED
PINK
BLUE
GREY
TEMP
COSINE
SINE
DGND
+5VDC
PHASE 1+
PHASE 1-
PHASE 2+
PHASE 2-
OUTER SHIELD
Clamp to PE
Ferrite Core
oute
r shi
eld
SERVO DRIVES
/ INTERFACES /
11
855EDITION 24SUBJECT TO ALTERATIONS
X40 / X41 SUPPLY IN / OUT
X42 / X43 CONTROL IN / OUT
X44 MOTOR PERIPHERAL I/O
Nr1 C Dig IN 1 Input high voltage: Vin > 16VDC, Input low voltage: Vin < 8VDC
2 C Dig IN 2 Input high voltage: Vin > 16VDC, Input low voltage: Vin < 8VDC
3 C Dig IN 3 Input high voltage: Vin > 16VDC, Input low voltage: Vin < 8VDC
4 CAN GND
5 CAN GND
6 C Dig OUT 1 Open Collector Output, 100k Pull-Up to +24VDC
7 Isolated CAN H
8 Isolated CAN L
Case Shield
Nr1 DGND
2 MP Dig IN 1 Input high voltage: Vin > 16VDC, Input low voltage: Vin < 8VDC
3 MP Dig IN 2 Input high voltage: Vin > 16VDC, Input low voltage: Vin < 8VDC
4 CANGND Use a seperate shielded twisted pair cable for the CAN connection
5 Isolated CAN H Use a seperate shielded twisted pair cable for the CAN connection
6 +24VDC OUT Max. Current: 2.5A
7 MP Dig OUT 1 Open Collector Output, No Pull-Up, Max. Current: 1.4A
8 MP Dig IN 3 Input high voltage: Vin > 16VDC, Input low voltage: Vin < 8VDC
9 AN IN (0...10V) Analog Input 0V..10V
10 Isolated CAN L Use a seperate shielded twisted pair cable for the CAN connection
» Motor Supply: 72VDC nominal, 24...85VDC » Absolute max. Rating: 72VDC +20% » External Fuse: Motor Supply = 10AT (10A slow blow) / min. 100VDC
Logic Supply = 3AT (3A slow blow) / min. 100VDC » If motor supply voltage exceeds 90VDC, the drive will go into error state » Use 60/75°C copper conductors only » 13A max. current per circuit when header is mated to a receptacle loaded with a 45750 Mini-Fit® Plus
HCS Crimp Terminal crimped to a 16 AWG wire
» Use twisted pair (1-2, 3-6, 4-5, 7-8) cable for wiring » X42 is internally connected to X43 (1:1 connection) » Cable length < 30m. » Galvanically isolated CAN transceiver meets the specifications of the ISO11898-2 standard » Note: A termination resistor of 120 Ohm can be connected drive internally with the switch S5.1.
» Galvanically isolated CAN transceiver meets the specifications of the ISO11898-2 standard » The CAN bus on X44 is the same one as on X42/43 » Note: A termination resistor of 120 Ohm can be connected drive internally with the switch S5.1. » Use a seperate shielded cable with a twisted pair for CAN L and CAN H when connecting the CAN bus
to X44. Clamp the shielding of the cable as close as possible to the drive to PE. » Cable length < 30m
MolexMini-Fit Jr.™
Molex Art. Nr.:50-36-2306
RJ-45shielded
MolexMini-Fit 3.0™
Molex Art. Nr.:43045-1000
8
18
1
2
1
4
3
2
1
4
3
4
3
2
1
10A slow-blow
3A slow-blow
PWR+
PGND
+24VDC
DGND
24...85VDCPGND
22...26VDCDGND
6
7
8
9
10
1
2
3
4
5
SERVO DRIVES
/ INTERFACES /
11
856EDITION 24
SUBJECT TO ALTERATIONS
X19 SYSTEM
BUS LEDS BUS STATE DISPLAY
S5
LEDS STATE DISPLAY
Nr Description
1 RS232 Tx
2 GND
3 GND
4 RS232 Rx
5 (Do not connect)
6 (Do not connect)
BUS State DisplayGreen OK
Red Error
S5.3 Bootstrap (Default = off)
S5.2 Parameter Default (Default = off)
S5.1 CAN Termination (Default = on)
State DisplayGreen 24V Logic Supply OK
Yellow Motor Enabled / Error Code Low Nibble
Yellow Warning / Error Code High Nibble
Red Error
The use of these LEDs depends on the type of fieldbus which is used.Please see the corresponding manual for further information.
RJ-12 6P6Cunshielded
654321
6
1
BUSOK
BUSError
24VOKENWarn
Error
12
3
ON
SERVO DRIVES
/ DIMENSIONS /
11
857EDITION 24SUBJECT TO ALTERATIONS
X1 MOT SUPPLYP
WR
+P
GN
D
1+
1-
2+
2-
SC
R
X2 MOT PHASES
X3 MOTOR SENSOR
X3
1
n.c
.
6
n.c
.2
n.c
.
7
n.c
.3
+5V
DC
8
AG
ND
4
SIN
9
CO
S5
TE
MP
X7 / X
8
X13
DIFF HALL SW
X13 EXT POS SENS /
1 R
S485 R
x+2 R
S485 R
x-3 R
S485 T
x+4 G
ND
5 G
ND
6 R
S485 T
x-7 C
AN
H8 C
AN
L
X19 S
YS
TE
M1 D
o n
ot co
nnect
2 D
o n
ot co
nnect
3 R
S232 R
X4 G
ND
5 G
ND
6 R
S232 T
X7 D
o n
ot co
nnect
8 D
o n
ot co
nnect
8 H
all
Sw
/W
15
Hall
Sw
W
7 H
all
Sw
/V
14
Hall
Sw
V
6 H
all
Sw
/U
13
Hall
Sw
U
5 G
ND
12
Sens
Ala
rm
4 S
ens
/Z11
S
ens
Z
3 S
ens
/B10
Sens
B
2 S
ens
/A9
S
ens
A
1 +
5V
DC
PE
12
3O N
Para.Def.CANTermError
24VOKEn
Warn
BusError
BusOK
Boot
A1100116
124
104
84.5
46
18
20.5
25.5
14 11.5
Dimensions in mmMounting points for M3 screws
A1100 Single axis driveWidth mm (in) 25.5 (1.0)
Height mm (in) 124 (4.9)
Depth mm (in) 84.5 (3.3)
Weight g (lb) 340 (0.75)
Case IP 20
Storage temperature oC -25...40
Transport temperature oC -25...70
Operating temperature oC 0...40 at rated data (UL)40...50 with power derating
Relative humidity % 95 (non-condensing)
Pollution IEC/EN 60664-1 Pollution degree 2
Max. case temperature oC 70
Max. power dissipation W 30
Min. distance between drives mm (in) 20 (0.8)50 (2)
horizontalvertical
Central points
SERVO DRIVES
/ ORDERING INFORMATION /
11
858EDITION 24
SUBJECT TO ALTERATIONS
Servo Drive
Item Description Part Number
A1100-GP-LC-0S-000 Mini CANopen Drive (72V/8A) 0150-2499
Accessories
Item Description Part Number
DC01-X44-4m Cable IO´s for A1100/X44, 4 m flying leads 0150-3553
DC01-X40-4m Cable Supply A1100/X40, 4 m flying leads 0150-3545
DC01-X40/41-0.15 m Cable IO for A1100/X40-X41, 0.15 m daisy chain 0150-3552
SERVO DRIVES
11
859EDITION 24SUBJECT TO ALTERATIONS
Absolute / relative positioning commands
Limited jerk motion commands
Time Curves
PLC or Stand-Alone Solutions
Digital and Analog IO’s
Safe Torque Off
Interface for optional incremental or absolute sensor
Supports Plug and Play
CE / UL / CSA
SERIES C1100
SERVO DRIVES
/ PRODUCT DESCRIPTION /
11
860EDITION 24
SUBJECT TO ALTERATIONS
Servo Drive C1100
Series C1100 servo drives are axis controllers, with 32-bit position resolution and an integrated power stage, for linear motors and rotary drives.
The controllers are suitable for simplest and standard positioning tasks with point to point motions.
The C1100 servo drives can be actuated by machine controls from many manu-facturers or brands, via digital inputs and outputs, over CAN Bus or Industrial Eth-ernet.
Bus-Interfaces: » Profinet » EtherCat, SoE, CoE » CANopen
Serial Interfaces RS422 / RS485: » LinRS
Fast process interfaces for direct process-ing of sensor signals are available as freelyprogrammable analog and digital inputs, a fast trigger input, and a capture input.
The safety IO’s on Servo Drives with the -1S option with CAN or industrial ETH-ERNET allows safe torque off (STO) of the drives via control signals, without inter-rupting the power supply.
Drives with -0S option come without safe-ty IO’s and are easier to wire in applica-tions without safety needs.
The servo drives have two separate in-puts for the logic supply and motor ele-ments.
This has the advantage that the drive andlinear motor do not need to be reinitial-ized when the machine is restarted, since all process data, including the actual position of the linear motor, is still up to date.
CONNECTION TO MACHINE CONTROL PROCESS AND SENSOR INTERFACES LOGIC AND POWER SUPPLY
SERVO DRIVES
/ PRODUCT DESCRIPTION /
11
861EDITION 24SUBJECT TO ALTERATIONS
System Integration
Flexible hardware enables control of many 1/2/3-phase motors. Thus, low-power rotary servomotors, such as brushless DC motors, can be integrated in the same control concept.
Additionally, the drives can be equipped with optional peripherals, such as refer-ence and end stop switches, high-preci-sion external position sensors, or a me-chanical holding brake.
Series C1100 servo drives have analog inputs and digital inputs and outputs, serial interfaces, CAN bus, and Ethernet. The user therefore is not dependent on the selection of the higher level control-ler. An appropriate interface is available, with associated protocols, for many PLC or IPC solution.
With flexibility and a compact form fac-tor, LinMot Series C1100 servo drives provide a complete solution for a flexible drive concept in single and multiple axes applications, with linear motors and oth-er actuators.
Serial interfaces, CAN and industrial Eth-ernet guarantees flexible and fast com-munication.
The cost-optimized design of the C1100 series make it the ideal drive for point-to-point motions and replacement of pneu-matic cylinders. The control is also char-acterized by higher speeds, longer service life and high flexibility.
C1100 servo drives provide all neces-sary interfaces to operate linear or rotary motors with optional external periph-erals, such as end position and refer-ence switches, a mechanical brake, or a high-resolution external position sensor.
LinMot Talk, a user-friendly PC software is available for configuration. In addition to online documentation, LinMot Talk pro-vides extensive debugging tools, such as an oscilloscope and an error inspector, for simple and rapid start-up of the Axis.
Fieldbus and Ethernet drives can also be configured directly by the higher level control, by downloading the configura-tion parameters via Bus/Ethernet
IDEAL FOR POINT TO POINT MOTIONS MOTOR INTERFACES CONFIGURATION
LogicSupply
TriggerInputs
MotorSupply
Capture
Safety
AnalogInputs
RS232
Fieldbusses and interfaces to the higher level control
LinMotServo DriveSeriesC1100
Position Drive:• 32 Bit Position Value• Resolution 0.1µm
Run Modes:• VA Interpolated Moves
• Analog Position• Run Curves• Two Point Trigger Moves
• Streaming P, PV,PVT• (Step, Direction)
Internal stored Curves:• Max. 50 Curves• Up to 8´110 set points
Command Table:• Up to 255• Commands
Optional Limit and Home Switches
Optional Brake
Sup
ply
and
Saf
ety
Fast
Pro
cess
Inpu
tsC
onfig
.
Optional external Position Sensor
ProfiNet CAN open
Limit - Switch
DigitalI/O´s
Sercos over Eth-
erCAT
DS402 over Eth-
erCAT
RS 485
Home Switch
EtherCAT
Limit + Switch
External Position Sensor
SERVO DRIVES
/ OPERATING MODES /
11
862EDITION 24
SUBJECT TO ALTERATIONS
For direct position targets, using absolute or relative positioning, the desired position is reached using acceleration and velocity-limited mo-tion profiles, sine motion profiles or jerk optimized profiles ( jerk limited Bestehorn). Positioning commands can be invoked via the serial inter-faces, CANopen, Ethernet or a trigger input.
Up to 50 different time curves can be stored Series C1100 drives, with up to 8’110 individual waypoints. The motor can thus travel along time curves of any complexity, such as those generated by CAD programs and stored in the drive (Excel CSV format). The time curves can be in-voked via the serial interface, fieldbusses, Ethernet, or the trigger input.
For travel to an absolute position, or shifting by a relative position, any desired motion rules can be stored besides the VA interpolator. They are stored in the drive as motion profiles (Excel CSV format). The po-sitions can be approached, for example, with a sinusoidal motion to optimize power loss, or special reverse optimized motion profiles.
Higher level NC motion controllers with fieldbus or Ethernet interfaces communicate with the servo drives via “Position Streaming”. The po-sition and velocity calculated in the higher level control is transmitted to the Servo Drive cyclically. The P, PV, or PVT mode is available for this transmission.
CONNECTION TO MACHINE DRIVE
TIME CURVES
PROFILED MOVES
SETPOINT STREAMING
Stroke range:Position Resolution:Velocity Resolution:Acceleration Resol.:
Stroke range:Position Resolution:Motion profiles:Curve points:
Stroke range:Position Resolution:Motion profiles:Curve points:
Position Resolution:Velocity Resolution:Interpolator:Cycle times:
±100 m0.1 μm (32Bit)1.0 μm/s (32Bit)10.0 μm/s2 (32Bit)
±100m0.1 μm (32Bit)Max. 50 Time CurvesMax. 8’110 points
±100m0.1 μm (32Bit)Max. 50 Time CurvesMax. 8’110 points
32 Bit32 Bit4 kHz0.5 - 5 ms
Stroke [mm]
Stroke [mm]
Stroke [mm]
Stroke [mm]
Time [ms]
Time [ms]
Time [ms]
Time [ms]
Goto 100 mmvmax = 2,5 m/samax = 3,0 m/s2
Start Curve 1
Goto Pos 125 mmwith Profil 1
Curve 1
Curve 1
SERVO DRIVES
/ OPERATING MODES /
11
863EDITION 24SUBJECT TO ALTERATIONS
With the Easy Steps function, up to 4 positions or independent travel commands can be stored on the drive, and addressed via 4 digital in-puts or fieldbus interfaces/Ethernet.
Entire motion sequences with up to 255 individual motion commands can be stored in the Command Table. This is primarily advantageous if complete motion sequences need to be executed very quickly, with-out dead time from the higher level drive. In the Command Table, the programmer has access to all motion commands, internal parameters, and digital inputs and outputs.
For an analog position target, the linear motor travels to a position pro-portional to the input voltage. The position is either scanned continu-ously, or only after a rising edge of the trigger signal. In order to prevent uncontrolled jumps in position, the motor travels to the positions with a programmable maximum acceleration and velocity (VA interpolator).
Easy Steps provide the ability to parameterize internal parameters us-ing two analog inputs. If, for example, the maximum motor current is read at an analog input, then the maximum motor force can be provid-ed as analog for freely programmable joining processes.
EASY STEPS
COMMAND TABLE
ANALOG POSITION
EASY STEPS PARAMETER SCALE
Digital inputs:Interface:Scanning rate:
Commands:Cycle time:
Inputs:Voltage range:Resolution:Scanning rate:
Inputs:Voltage range:Resolution:Scanning rate:
4X4250 μsec
max. 254250 μsec
Analog Input X40-10VDC or ±10V 10 Bit >=250 μsec (adjustable)
2 x Analog0-10VDC10 Bit 250 μsec
Wait Input
Terminate A
Pos 12mm
Rule 1
Start
Stop
10VPosition
0VPosition
Force Max
Maximum Force [0...10V => 0...100%]
Time [ms]0%
100%
Input 1 Pos 125 mm
Input 2 Pos 250 mm
Input 3 Curve 1
Input 4 Pos -30 mm
SERVO DRIVES
/ OPERATING MODES /
11
864EDITION 24
SUBJECT TO ALTERATIONS
Using the force control technology function, precise joining process-es can be implemented reliably and reproducibly with high-precision force control. For force control, the current motor force is measured with a load cell and controlled in the drive. Joining process or quality checks with high requirements for applied force can be implemented.
CLOSED LOOP FORCE CONTROL
Analog input:Resolution:Min. Force Resolution:
0-10V or ±10V10 Bit0.1N
FMot= 0,1...580N
0...10V Fone
Load Cell
SERVO DRIVES
/ SYSTEM OVERVIEW /
11
865EDITION 24SUBJECT TO ALTERATIONS
Interfaces C1100-GP-XC C1150-EC-XC C1150-DS-XC C1150-SE-XC C1150-PN-XCLinRS (RS485 / RS422) •CANOpen •ETHERCAT LinMot Profile •ETHERCAT CiA402 •ETHERCAT SoEe •PROFINET LinMot •
X1 MOT SUPPLY
PW
R+
PG
ND
1+ 1
- 2+ 2
-S
CR
X2 MOT PHASES
X3 MOTOR SENSOR
X3
1
n.c
.
6
n.c
.2
n.c
.
7
n.c
.3
+5V
DC
8
AG
ND
4
SIN
9
CO
S5
TE
MP
S4
S4
S7 IN
X7 / X
81
RS
48
5 R
x+
2 R
S4
85
Rx-
3 R
S4
85
Tx+
4 G
ND
5 G
ND
6 R
S4
85
Tx-
7 C
AN
H8
CA
N L 1 R
S2
32
/ R
S4
85
Se
l2
RS
48
5 S
el
2 C
AN
Te
rm3
Bo
ots
tra
p
X19 S
YS
TE
MX
33 S
TO
RE
LA
IS1
Do
no
t co
nn
ect
2 D
o n
ot
co
nn
ect
3 R
S2
32
RX
4 G
ND
5 G
ND
6 R
S2
32
TX
7 D
o n
ot
co
nn
ect
8 D
o n
ot
co
nn
ect
X13
DIFF HALL SWX13 EXT POS SENS /
8
Ha
ll S
w /
W1
5
Ha
ll S
w W
7
Ha
ll S
w /
V1
4
Ha
ll S
w V
6
Ha
ll S
w /
U1
3
Ha
ll S
w U
5
GN
D1
2
Se
ns A
larm
4
Se
ns /Z
11
Se
ns Z
3
Se
ns /B
10
S
en
s B
2
Se
ns /A
9
S
en
s A
1
+5
VD
C
PE
Se
e I
ns
tall
ati
on
Gu
ide
fo
r W
irin
g!
Ge
fäh
rlic
he
ho
he
Sp
an
nu
ng
!V
or
dem
Arb
eiten V
ers
org
ung a
bkle
mm
en,
5 M
inugen w
art
on u
nd z
wis
chen P
WR
+ u
nd
PG
ND
messen, ob d
ie K
ondensato
ren a
uf
unte
r 42 V
DC
entladen s
ind
Ris
k o
f E
lec
tric
Sh
oc
k!
Befo
re s
erv
icin
g, dis
connect supply
, w
ait
5 m
inute
s a
nd m
easure
betw
een P
WR
+ a
nd
PG
ND
to b
e s
ure
that th
e c
apacitors
have
dis
charg
ed b
elo
w 4
2 V
DC
Att
en
tio
n h
au
te t
en
sio
n!
Avant to
ut opera
tion d
e m
ain
tenance
deconnecte
r la
limenta
tion, attendre
5 m
inute
et m
esure
r la
tensio
n e
ntr
e P
WR
+ e
t P
GN
Dpour
verifier
si le
s c
ondensate
rus s
ont
decharg
es infe
rieure
a 4
2 V
DC
http://w
ww
.lin
mot.com
!
1
8
S8 OUT
1
8 OFF O
N1 2 3 4
X19
SYST
EM8
1ID
LO
WID
HIG
H1
12
34
56
78
O N
11 AnIn-10 AnIn+9 In8 In7 In6 In5 In4 Out3 Out+24VDCDGND
X4 L
OG
IC S
UPPL
Y / C
ONT
ROL
ENWAR
N 24V
OK
11
ERRO
R
X33
STO
RELA
IS
S2 1...4
S1 5...8
C1100
12
34
56
78
4/8 Ksr+
3/7 Ksr-
2/6 Ksr f+
1/5 Ksr f-
X1: Motor Supply
X2: Motor Phases
X3: Motor Sensor
S1-2: ID Selector (only C1100-GP-...)
LED State Indicator
LED RT Bus (only C1150-EC/PN-...)xS-xxx)
X4: Logic Supply / Control
X19: System Configuration RS232
X8/18: CMD OutX7/17: CMD In
S4: Bus Termination (only C1100-GP-...)S5: Bootstrap (only C1150-EC/PN-...)
X13: External Positionssensor
X33: STO Relais (for -1S option only)
SERVO DRIVES
/ SYSTEM OVERVIEW C1100-GP /
11
866EDITION 24
SUBJECT TO ALTERATIONS
C1100-GP-XC-0SC1100-GP-XC-1S
» Absolute & Relative Positioning » Time based motion profiles » Internally stored Motion Sequences » Position Streaming » Analog Position Target » Analog Parameter Scaling » Force Control Technology Function » Customer-Specific Functions
The LinMot C1100-GP drives support the CiA DS301 communications protocol. The following resources are available:4 T_PDO, 4 R_PDO, 1 T_SDO, 1 R_SDO
The following protocols are supported by the CO drives:
» NMT Error Control (Nodeguarding Protocol or HeartBeat Protocol)
» PDO (Transmission type 1 to 254) » SDO Upload and Download » NMT (Start, Stop, Enter PreOp,
Reset Node, Reset Communication, Boot-Up Message)
C1100-GP servo drives support the follow-ing interfaces:
» CANOpen » LinRS
CANOPEN PROCESS AND SENSOR INTERFACES MINIMAL CYCLE TIMES
Min. Bus Cycle:IO update:Trigger Input: Position control loop: Current control loop:
500 μs500 μs250 μs250 μs125 μs
X1 MOT SUPPLY
PW
R+
PG
ND
1+ 1
- 2+ 2
-S
CR
X2 MOT PHASES
X3 MOTOR SENSOR
X3
1
n.c
.
6
n.c
.2
n
.c.
7
n
.c.
3
+5
VD
C
8
AG
ND
4
SIN
9
C
OS
5
TE
MP
S4
S4
S7 IN
X7
/ X
81
RS
48
5 R
x+
2 R
S4
85
Rx-
3 R
S4
85
Tx+
4 G
ND
5 G
ND
6 R
S4
85
Tx-
7 C
AN
H8
CA
N L 1 R
S2
32
/ R
S4
85
Se
l2
RS
48
5 S
el
2 C
AN
Te
rm3
Bo
ots
tra
p
X1
9 S
YS
TE
MX
33
ST
OR
EL
AIS
1 D
o n
ot co
nn
ect
2 D
o n
ot co
nn
ect
3 R
S2
32
RX
4 G
ND
5 G
ND
6 R
S2
32
TX
7 D
o n
ot co
nn
ect
8 D
o n
ot co
nn
ect
X1
3
DIFF HALL SWX13 EXT POS SENS /
8
Ha
ll S
w /W
15
H
all
Sw
W
7 H
all
Sw
/V
14
H
all
Sw
V
6 H
all
Sw
/U
13
H
all
Sw
U
5 G
ND
12
S
en
s A
larm
4
Se
ns /Z
11
Se
ns Z
3
Se
ns /B
10
S
en
s B
2
Se
ns /A
9
S
en
s A
1
+5
VD
C
PE
See In
sta
llati
on
Gu
ide f
or
Wir
ing
!
Ge
fäh
rlic
he
ho
he
Sp
an
nu
ng
!V
or
dem
Arb
eiten V
ers
org
ung a
bkle
mm
en,
5 M
inugen w
art
on u
nd z
wis
chen P
WR
+ u
nd
PG
ND
messen, ob d
ie K
ondensato
ren a
uf
unte
r 42 V
DC
entladen s
ind
Ris
k o
f E
lec
tric
Sh
oc
k!
Befo
re s
erv
icin
g, dis
connect supply
, w
ait
5 m
inute
s a
nd m
easure
betw
een P
WR
+ a
nd
PG
ND
to b
e s
ure
that th
e c
apacitors
have
dis
charg
ed b
elo
w 4
2 V
DC
Att
en
tio
n h
au
te t
en
sio
n!
Avant to
ut opera
tion d
e m
ain
tenance
deconnecte
r la
limenta
tion, attendre
5 m
inute
et m
esure
r la
tensio
n e
ntr
e P
WR
+ e
t P
GN
Dpour
verifier
si le
s c
ondensate
rus s
ont
decharg
es infe
rieure
a 4
2 V
DC
http://w
ww
.lin
mot.com
!
1
8
S8 OUT
1
8 OFF O
N1 2 3 4
X19
SYST
EM8
1ID
LO
WID
HIG
H1
12
34
56
78
O N
11 AnIn-10 AnIn+9 In8 In7 In6 In5 In4 Out3 Out+24VDCDGND
X4 L
OG
IC S
UPPL
Y / C
ONT
ROL
ENWAR
N 24V
OK
11
ERRO
R
X33
STO
RELA
IS
S2 1...4
S1 5...8
C1100
12
34
56
78
4/8 Ksr+
3/7 Ksr-
2/6 Ksr f+
1/5 Ksr f-
X1: Motor Supply
X2: Motor Phases
X3: Motor Sensor
S1-2: ID Selector
LED State Indicator
X4: Logic Supply / Control
X19: System Configuration RS232
X8: CMD OutX7: CMD In
S4: Bus Termination
X13: External Positionssensor / Differential Hall Switches
X33: STO Relais (for -1S option only)
SERVO DRIVES
/ SYSTEM OVERVIEW C1100-GP /
11
867EDITION 24SUBJECT TO ALTERATIONS
3X19
4X7 / X8
2
S1-S2
X13
X4
X3
X1
X2
PE
X33
24...85V DC
PH1+ / UPH1- / VPH2+ / WPH2-PE / Shield
8 ID HIGH7654 ID LOW321
RS485 / RS422
CAN
RS232
LinRS
CANopen
SUPPLY3x400VAC230VAC115VAC
SYSTEM /CONFIG
LINEAR MOTOREC MOTORDC MOTOR
ANALOG5VSIN/COSPOSITION SENSORTEMP INPUTBRAKE OUTPUT
DIGITALPOSITION SENSOR
ANALOG INPUTS
DIGITAL OUTPUTS
FAST PROCESSINPUTS
LOGIC SUPPLY
MACHINE SAFETYSTO
KTYBrake+
SINCOSTEMP.+5VGND
A+A-B+B-Z+Z-U+U-V+V-W+W-ENC ALARM+5VDCGND
ANALOG INPUT+ANALOG INPUT-ANALOG INPUT
DIGITAL INPUTS
DIGITAL OUTPUTS
+24VDCGND
MOTOR SUPPLY
C1100-GP
SERVO DRIVES
11
868EDITION 24
SUBJECT TO ALTERATIONS
/ SYSTEM OVERVIEW C1150-EC/PN/DS/SE /
C1150-xx-XC-xS-xxx
» Absolute & Relative Positioning » Time based motion profiles » Internally stored Motion Sequences » Position Streaming » Analog Position Target » Analog Parameter Scaling » Force Control Technology Function » Customer-Specific Functions
Series C1150-EC drives allow integration of LinMot linear motors in controls con-cepts with EtherCAT. The user can inte-grate Series C1100 drives regardless of the provider of the higher level control.
LinMot drives are available with commonindustrial Ethernet protocols. Since all Ethernet drives have the same motion command interface, and the control and status word are identical, software blocksthat have been implemented once, can be transferred to other motion controllerswithout a problem.
INDUSTRIAL ETHERNET TECHNICAL DATA MINIMAL CYCLE TIMES
Bus cycle:IO update:Trigger Input: Position control loop: Current control loop:
Type:Switch/Hub:Transfer rate:
500 μs500 μs250 μs250 μs125 μs
Realtime EthernetIntegrated 2-Port Switch10/100MBit/sec
X1 MOT SUPPLY
PW
R+
PG
ND
1+ 1
- 2+ 2
-S
CR
X2 MOT PHASES
X3 MOTOR SENSOR
X3
1
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6
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7
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3
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C
8
AG
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4
SIN
9
C
OS
5
TE
MP
S4
S4
S7 IN
X7 / X
81 R
S485 R
x+
2 R
S485 R
x-
3 R
S485 T
x+
4 G
ND
5 G
ND
6 R
S485 T
x-
7 C
AN
H8 C
AN
L 1 R
S232 / R
S485 S
el
2 R
S485 S
el
2 C
AN
Term
3 B
oots
trap
X19 S
YS
TE
MX
33 S
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ot connect
2 D
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ot connect
3 R
S232 R
X4 G
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5 G
ND
6 R
S232 T
X7 D
o n
ot connect
8 D
o n
ot connect
X13
DIFF HALL SWX13 EXT POS SENS /
8 H
all
Sw
/W
15
Hall
Sw
W
7 H
all
Sw
/V
14
Hall
Sw
V
6 H
all
Sw
/U
13
Hall
Sw
U
5 G
ND
12
Sens A
larm
4 S
ens /Z
11
Sens Z
3 S
ens /B
10
Sens B
2 S
ens /A
9
S
ens A
1 +
5V
DC
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1
8
S8 OUT
1
8 OFF O
N1 2 3 4
X19
SYST
EM8
1
RT B
USER
ROR
1
11 AnIn-10 AnIn+9 In8 In7 In6 In5 In4 Out3 Out+24VDCDGND
X4 L
OG
IC S
UPPL
Y / C
ONT
ROL
ENWAR
N 24V
OK
11
ERRO
R
X33
STO
RELA
IS
C1150
12
34
56
78
4/8 Ksr+
3/7 Ksr-
2/6 Ksr f+
1/5 Ksr f-
X1: Motor Supply
X2: Motor Phases
X3: Motor Sensor
LED State Indicator
LED RT Bus
X4: Logic Supply / Control
X19: System Configuration RS232
X18: RT ETHX17: RT ETH
S5: Bootstrap
X13: External Positionssensor / Differential Hall Switches
X33: STO Relais (for -1S option)
SERVO DRIVES
11
869EDITION 24SUBJECT TO ALTERATIONS
/ SYSTEM OVERVIEW C1150-EC/PN/DS/SE /
3X19
8X17 / X18
8
X13
X4
X3
X1
X2
PE
X33
C1150-EC/PN/DS/SE
24...85V DC
PH1+ / UPH1- / VPH2+ / WPH2-PE / Shield
10/100 MBaudINDUSTRIALETHERNET
RS232
EtherCAT
PROFINET
SUPPLY3x400VAC230VAC115VAC
SYSTEM /CONFIG
LINEAR MOTOREC MOTORDC MOTOR
ANALOG5VSIN/COSPOSITION SENSORTEMP INPUTBRAKE OUTPUT
DIGITALPOSITION SENSOR
ANALOG INPUTS
DIGITAL OUTPUTS
FAST PROCESSINPUTS
LOGIC SUPPLY
MACHINE SAFETYSTO
KTYBrake+
SINCOSTEMP.+5VGND
A+A-B+B-Z+Z-U+U-V+V-W+W-ENC ALARM+5VDCGND
ANALOG INPUT+ANALOG INPUT-ANALOG INPUT
DIGITAL INPUTS
DIGITAL OUTPUTS
+24VDCGNC
MOTOR SUPPLY
SERVO DRIVES
/ INTERFACES /
11
870EDITION 24
SUBJECT TO ALTERATIONS
1
2PWR +
PGND
16A slow-blow
1
2
PWR+
PGND
24...85VDC
X1 MOTOR SUPPLY
X2 MOTOR PHASES
X3 MOTOR SENSOR / BREMSE
Nr Designation LinMot Linear Motor Color 3-phase EC-Motor Color
1 PH1+ Motor Phase 1+ red Motor Phase U red
2 PH1- Motor Phase 1- pink Motor Phase V pink
3 PH2+ Motor Phase 2+ blue Motor Phase W blue
4 PH2- Motor Phase 2- grey RR- grey
5 PE/SCRN Shield Shield
Nr LinMot Motor EC Motor
1 Do not connect Do not connect
6 Brake+ Brake+
2 Do not connect Do not connect
7 Do not connect KTY
3 +5VDC +5VDC
8 AGND AGND
4 Sensor Sine Sensor Sine / Hall Switch U
9 Sensor Cosine Sensor Cosine / Hall Switch V
5 Temp In Hall Switch W
Case Shield Shield
Motor Supply: 72VDC nominal, 24...85VDCAbsolute max. Rating: 72VDC +20%.External Fuse: 16A slow-blow / min. 100VDCIf motor supply voltage exceeds 90VDC, the drive will go into error state.
» Use 60/75°C copper conductors only » Conductor Cross-Section 2.5mm2 (AWG14) max Length 3 m
» Use 60/75°C copper conductors only » Conductor cross-section: 0.5 – 2.5mm2 (depends on Motor current) / AWG 21 -14
» Use +5V (X3.3) and AGND (X3.8) only for motor internal Hall Sensor supply (max. 100 mA) » Cable length < 30 m » Brake+: 24V 500mA, 1.4Apeak » Caution: Do NOT connect AGND (X3.8) to ground or earth!
Connector has to beordered separetely
Connector has to beordered separetely
DSUB-9
1
2
3
4
5PE / SCR
1+ u
1- v
2+ w
2- x
612345
789
GND internally connected tocontroller housing which is connected to PE
M5 PE Screw
SERVO DRIVES
/ INTERFACES /
11
871EDITION 24SUBJECT TO ALTERATIONS
612345
789Shield
5
4
3
2
1
6
7
8
9
1
2
3
4
5
X2
X3
1
2
3
4
5PE
1+ u
1- v
2+ w
2- x
X4 LOGIC SUPPLY / IO CONNECTION
X7 - X8 RS485 / CAN (ON GP DRIVES ONLY)
Nr11 AnIn- X4.11 Configurable Analog Input differential (with X4.10)
10 AnIn+ X4.10 Configurable Analog Input differential (with X4.11)
9 AnIn X4.9 Configurable Analog Input single ended
8 In X4.8 Configurable Input
7 In X4.7 Configurable Input
6 In X4.6 Configurable Input
5 In X4.5 Configurable Input
4 Out X4.4 Configurable Output
3 Out X4.3 Configurable Output
2 +24VDC Supply Logic Supply 22-26 VDC
1 GND Supply Ground
Nr1 RS485_Rx+ A
2 RS485_Rx- B
3 RS485_Tx+ Y
4 NC
5 GND (1k Ohm to GND)
6 RS485_Tx- Z
7 CAN_H
8 CAN_L
Case Shield
» Use twisted pair (1-2, 3-6, 4-5, 7-8) cable for wiring. » The built in CAN and RS485 terminations can be activated by S4.2 and S4.3. » X7 is internally connected to X8 (1:1 connection)
DSUB-9 (f)Spring cage connector(has to be orderedseparetely)
X2
X3: DSUB-9 (f)
RJ-45
Use Y-style motor cables only (for example K15-Y/C)!
A W-style cable has a different shielding,so it cannot be modified to a Y-style cable!
Phase 2-could be used as RR-with3 phase Motors the other side of regeneration resistor has to be wired to PWR
Inputs: (X4.5...X4.8)Outputs: (X4.3 & 4.4)Analog inputs:
X4.9:X4.10/X4.11:
Supply 24V:
24V / 5mA (Low Level: –0.5 to 5VDC, High Level: 15 to 30VDC)24V / max. 500mA, Peak 1.4A (will shut down if exceeded)10 bit A/D converted.Single ended analog input to GND, 0..10V, Input Resistance: 51kΩ to GNDDifferential analog input, +/- 10V. Common mode range: +/- 5VDC to GND.Input Resistance: 11.4kΩ for each signal to GNDtypically 200mA / max. 2.0A (if all outputs “on” with max. load.)
» Use 60/75°C copper conductors only » Conductor cross-section max. 1.5 mm2
» Stripping length: 10 mm » The 24VDC supply for the control circuit (X4.2) must be protected with
an external fuse (3A slow blow)
8
18
1
X4. 11 X4. 10X4. 9X4. 8X4. 7X4. 6X4. 5X4. 4X4. 3+24VDCDGND 1
L
ogic
Sup
ply
/ Con
trol
1
1
GREY
BLUE
PINK
RED
WHITE
INNER SHIELD
YELLOW
GREEN
BLACK
PE
PHASE 2-
PHASE 2+
PHASE 1-
PHASE 1+
DO NOT CONNECT
DO NOT CONNECT
+5VDC
AGND
SINE
COSINE
TEMP
OUTER SHIELD
BRAKE+
KTY
Ferrite Core
SERVO DRIVES
/ interfaces /
11
872EDITION 24
SUBJECT TO ALTERATIONS
s1 - s2 aDress seLectOrs (On GP DriVes OnLY)
S1 (5...8) Bus ID High (0 … F). Bit 5 is the LSB, bit 8 the MSB.
S2 (1...4) Bus ID Low (0 … F). Bit 1 is the LSB, bit 4 the MSB
The use of these switches depends on the type of fieldbus which is used.Please see the corresponding manual for further information.
rt BUs LeDs
s4 BUs terMinatiOn (On GP DriVes OnLY)
s5 BOOtstraP (On ec anD Pn DriVes OnLY)
X13 eXternaL POsitiOn sensOr DifferentiaL HaLL sWitcHes
RT BUS State Display
Green OK
Red Error
Switch 4 Bootstrap
Switch 3 Termination CAN on/off
Switch 2 Termination RS485 on/off
Switch 1 RS232 / RS485
S5 Bootstrap (Internal use only)
The use of these LEDs depends on the type of fieldbus which is used.Please see the corresponding manual for further information.
Factory settings: Switch 3 “on”, all other switches “off”
Nr ABZ with Hall Switches SSI / BiSS1 +5V DC +5V DC
9 A+ A+
2 A- A-
10 B+ B+
3 B- B-
11 Z+ Data+
4 Z- Data-
12 Encoder Alarm Encoder Alarm
5 GND GND
13 U+ nc
6 U- nc
14 V+ nc
7 V- nc
15 W+ Clk+
8 W- Clk-
Case Shield Shield
Position encoder inputs (rs422):
Differential Hall switch inputs (rs422): enc. alarm in: sensor supply:
Max. counting frequency: 10 Mcounts/s with quadrature decoding, 100ns edge separation Input Frequency: <1kHz 5V / 1mA 5VDC, max 100mA
DSUB-15 (f)
12
34
56
78
S2
S1
ON
BUSOK
BUSError
912345678
101112131415
S4
1 2
3
4
on off
SERVO DRIVES
/ INTERFACES /
11
873EDITION 24SUBJECT TO ALTERATIONS
X33 SAFETY RELAYS (ONLY FOR -1S)
X17 - X18 REALTIME ETHERNET 10/100 MBIT/S (ON EC AND PN DRIVES ONLY)
LEDS STATE DISPLAY
X19 SYSTEM
Green 24V Logic Supply OK
Yellow Motor Enabled / Error Code Low Nibble
Yellow Warning / Error Code High Nibble
Red Error
Nr4 / 8 Ksr + Safety Relay 1 / 2 Input possitive
3 / 7 Ksr - Safety Relay 1 / 2 Input negative
2 / 6 Ksr f+ Safety Relay 1 / 2 feedback positive
1 / 5 Ksr f- Safety Relay 1 / 2 feedback negative
Nr Descrption1 (do not connect)
2 (do not connect)
3 RS232 RX
4 GND
5 GND
6 RS232 TX
7 (do not connect)
8 (do not connect)
case Shield
NrX17 RT ETH In Specification depends on RT-Bus.
Please refer to according documentation.X18 RT ETH Out
Spring cage connector(has to be orderedseparetely)
RJ-45
X17
X18
RJ-45
» Use 60/75°C copper conductors only » Conductor cross-section max. 1.5 mm2
» Stripping length: 10 mm » Never connect the safety relays to the logic supply of the drive!
Use isolated USB-RS232 converter (Art.-No. 0150-2473) for configuration over RS232
8
18
1
24VOKENWarn
Error
87654321
8
1
X33. 4/8 Ksr+X33. 3/7 Ksr-X33. 2/6 Ksr f+X33. 1/5 Ksr f-
X33
STO
REL
AYS
24VOKENWarn
Error
SERVO DRIVES
/ DIMENSIONS /
11
874EDITION 24
SUBJECT TO ALTERATIONS
Dimensions in mmMounting points for M5 screws
CentralPointsCentral
Points
Servo Drive Series C11x0-...-0S C11x0-...-1SWidth mm (in) 26.0 (1.02)
Height mm (in) 146 (5.8) 166 (6.5)
Height with fixings mm (in) 186 (7.3) 206 (8.1)
Depth mm (in) 106 (4.2)
Weight kg (lb) 505 (1.21) 650 (1.43)
Mounting Screws 2 x M5 2 x M5
Mounting Distance mm (in) 168 (6.61) 188 (7.4)
Case IP Code IP 20
Storage temperature oC -25...40
Transport temperature oC -25...70
Operating temperature oC 0...40 at rated date40...50 with power derating
Relative humidity 95% (non-condensing)
Pollution IEC/EN 60664-1 Pollution degree 2
Shock resistance (16 ms) -1S option 3.5 g
Vibration resistance (10-200Hz) -S option 1 g
Max. case temperature oC 70
Max. power dissipation W 30
Mounting place in the control cabinet
Mounting position vertical
Distance between Drives mm (in)
Without Power Derating20 (0.8) left/right / 50 (2) top/bottom
With Powert Derating:5 (0.2) left/right / 20 (0.8) top/bottom
C11x0-...-0S C11x0-...-1S
188206
166
106
26
168186
146
106
26
X19
SYST
EM8
1
12
34
56
78
O N
ID L
OW
ID H
IGH
S1 5...8
S1 1...4
11 In
10 In
9 In
8 In
7 Out
6 Out
5 Out
4 Out
3 Out
24VDC
DGND
X4 L
OG
IC S
UPPL
Y / C
ONT
ROL
EN
WAR
N
24V
OK
111
X33
STO
RE
LAIS
C1100
X19
SYST
EM8
1
12
34
56
78
O N
ID L
OW
ID H
IGH
S1 5...8
S1 1...4
11 In
10 In
9 In
8 In
7 Out
6 Out
5 Out
4 Out
3 Out
24VDC
DGND
X4 L
OG
IC S
UPPL
Y / C
ONT
ROL
EN
WAR
N
24V
OK
111
C1100
SERVO DRIVES
/ ordering information /
11
875EDITION 24SUBJECT TO ALTERATIONS
Servo Drives
Item Description Part Number
C1100-gP-XC-0S-000 General Purpose Drive (72VDC/25) 0150-2380
C1150-Pn-XC-0S-000 ProfiNet Drive (72V/25A) 0150-2384
C1150-eC-XC-0S-000 EtherCAT Drive (72VDC/25A) 0150-2382
C1150-dS-XC-0S-000 EtherCAT CoE Drive (72VDC/25A) 0150-2417
C1150-Se-XC-0S-000 EtherCAT SoE Drive (72VDC/25A) 0150-2625
C1100-gP-XC-1S-000 General Purpose Drive (72VDC/25), STO 0150-2381
C1150-Pn-XC-1S-000 ProfiNet Drive (72V/25A), STO 0150-2385
C1150-eC-XC-1S-000 EtherCAT Drive (72VDC/25A), STO 0150-2383
C1150-dS-XC-1S-000 EtherCAT CoE Drive (72VDC/25A), STO 0150-2418
C1150-Se-XC-1S-000 EtherCAT SoE Drive (72VDC/25A), STO 0150-2626
Accessories
Item Description Part Number
dC01-C1X00-0S/X1/X4 Drive Connector Set for C1X00-0S 0150-3527
dC01-C1X00-1S/X1/X4/X33 Drive Connector Set for C1X00-1S 0150-3528
dC01-C1X00/X1 Drive Connector for PWR 72VDC Input 0150-3525
dC01-C1X00/X2 Drive Connector Motor Phases 0150-3526
dC01-Signal/X4 Drive Connector 24VDC & Logic 0150-3447
dC01-Safety/X33 yello Drive Connector Safety 0150-3451
188206
166
106
26
168186
146
106
26
X19
SYST
EM8
1
12
34
56
78
O N
ID L
OW
ID H
IGH
S1 5...8
S1 1...4
11 In
10 In
9 In
8 In
7 Out
6 Out
5 Out
4 Out
3 Out
24VDC
DGND
X4 L
OG
IC S
UPPL
Y / C
ONT
ROL
EN
WAR
N
24V
OK
111
X33
STO
RE
LAIS
C1100
X19
SYST
EM8
1
12
34
56
78
O N
ID L
OW
ID H
IGH
S1 5...8
S1 1...4
11 In
10 In
9 In
8 In
7 Out
6 Out
5 Out
4 Out
3 Out
24VDC
DGND
X4 L
OG
IC S
UPPL
Y / C
ONT
ROL
EN
WAR
N
24V
OK
111
C1100
SERVO DRIVES
11
876EDITION 24
SUBJECT TO ALTERATIONS
/ NOTES /
SERVO DRIVES
11
877EDITION 24SUBJECT TO ALTERATIONS
Absolute / relative positioning commands
Limited jerk motion commands
Time Curves
Real Time (Streaming)
Synchronous control (Drive profiles)
PLC or Stand-Alone Solutions
Digital and Analog IO’s
Safe Torque Off
Interface for optional incremental or absolute sensor
Supports Plug and Play
CE / UL / CSA
SERIES C1200
SERVO DRIVES
/ PRODUCT DESCRIPTION /
11
878EDITION 24
SUBJECT TO ALTERATIONS
Servo Drive C1200
Series C1200 servo drives are axis controllers,with 32-bit position resolution and an integratedpower stage, for linear and rotary motors.The controllers are suitable for standard andhigh-end positioning tasks with NC Synchronisation.
The Series C1200 servo drives can be ac-tuated by machine controls from many manufacturers or brands, via digital in-puts and outputs over Industrial Ethernet.
Bus-Interfaces: » ProfiNet / ProfiDrive » EtherCat, SoE, CoE » Ethernet IP » PowerLink » Sercos III
Fast process interfaces for direct process-ing of sensor signals are available as freely programmable analog and digital inputs, a fast trigger input, and a capture input.
The safety IO’s on Servo Drives with the -1S option with industrial ETHERNET al-lows safe torque off (STO) of the drives via control signals, without interrupting the power supply.
Drives with -0S option comes without safety IO’s and is easier to wire in applica-tions without safety needs.
The servo drives have two separate in-puts for the logic and motor elements.
This has the advantage that the drive and linear motor do not need to be reinitial-ized when the machine is restarted, since all process data, including the actual position of the linear motor, is still up to date.
CONNECTION TO MACHINE CONTROL PROCESS AND SENSOR INTERFACES LOGIC AND POWER SUPPLY
SERVO DRIVES
/ PRODUCT DESCRIPTION /
11
879EDITION 24SUBJECT TO ALTERATIONS
System Integration
Flexible hardware enables control of many 1/2/3-phase motors. Thus, low-power rotary servomotors, such as brushless DC motors, can be integrated in the same control concept.
Additionally, the drives can be equipped with optional peripherals, such as refer-ence and end stop switches, high-preci-sion external position sensors, or a me-chanical holding brake.
Series C1200 servo drives have analog and digital inputs and outputs, serial in-terfaces, fieldbusses, and Ethernet. The user therefore is not dependent on the selection of the overlaid controller. An appropriate interface is available, with associated protocols, for many PLC or IPC solutions.
With flexibility and a compact form fac-tor, LinMot Series C1200 servo drives provide a complete solution for a flexible drive concept in single and multiple axes applications, with linear motors and oth-er actuators.
The ultra-fast control cycle together with the high resolution A/D converters of the C1200 series drives guarantee perfect motor control for demanding Positioning tasks.
The various drive profiles available on the series C1200 drives makes it easy to inte-grate these drives into systems with syn-chronized axes and overlaid NC-position controllers with industrial Ethernet com-munication.
C1200 servo drives provide all neces-sary interfaces to operate linear or rotary motors with optional external periph-erals, such as end position and refer-ence switches, a mechanical brake, or a high-resolution external position sensor.
LinMot Talk, a user-friendly PC software is available for configuration. In additionto online documentation, LinMot Talk provides extensive debugging tools, such as an oscilloscope and an error inspec-tor, for simple and rapid start-up of the Axis.
Fieldbus and Ethernet drives can also beconfigured directly by the overlaid con-trol, by downloading the configuration parameters via Bus/Ethernet
HIGH-END AND NC-MOTIONS MOTOR INTERFACES CONFIGURATION
LogicSupply
TriggerInputs
MotorSupply
Capture
Safety
AnalogInputs
RS232
Fieldbusses and interfaces to the overlaid control
LinmotServo DriveSeriesC1200
Position Drive:• 32 Bit Position Value• Resolution 0.1µm
Run Modes:• VA Interpolated Moves• Analog Position• Run Curves• Two Point Trigger
Moves• Streaming P, PV,PVT• (Step, Direction)
Internal stored Curves:• Max. 99 Curves• Up to 15´000
set points
Command Table:• Up to 255• Commands
Optional Limit and Home Switches
Optional Brake
Supp
ly a
nd S
afet
yFa
st P
roce
ss In
puts
Conf
ig.
Optional external Position Sensor
ProfiNet SercosIII
Ethernet IP
DigitalI/O´s
Lin UDP ProfiDrive
DS402 over
EtherCAT
Limit - Switch
PowerLink
Home Switch
EtherCAT
Sercos over
EtherCAT
Limit + Switch
External Position Sensor
SERVO DRIVES
/ OPERATING MODES /
11
880EDITION 24
SUBJECT TO ALTERATIONS
For direct position targets, using absolute or relative positioning, the desired position is reached using acceleration and velocity-limited mo-tion profiles or jerk optimized profiles (example: Bestehorn). Position-ing commands can be invoked via serial Ethernet or a trigger input.
Up to 100 different time curves can be stored on Series C1200 drives, with up to 16,000 individual waypoints. The motor can thus travel along time curves of any complexity, such as those generated by CAD programs and stored in the drive (Excel CSV format). The time curves can be invoked via the serial interface, fieldbusses, Ethernet, or the trigger input.
For travel to an absolute position, or shifting by a relative position, any desired motion rules can be stored besides the VA interpolator. They are stored in the drive as motion profiles (Excel CSV format). The po-sitions can be approached, for example, with a sinusoidal motion to optimize power loss, or special reverse optimized motion profiles.
Overlaid NC drives with fieldbus or Ethernet interfaces communicate with the servo drives via “Position Streaming”. The position and velocity calculated in the overlaid control is transmitted to the Servo Drive cycli-cally. The P, PV, or PVA mode is available for this transmission.
INTERPOLATED MOVES
TIME CURVES
PROFILED MOVES
SETPOINT STREAMING
Stroke range:Position Resolution:Velocity Resolution:Acceleration Resol.:
Stroke range:Position Resolution:Motion profiles:Curve points:
Stroke range:Position Resolution:Motion profiles:Curve points:
Position Resolution:Velocity Resolution:Interpolator:Cycle times:
±100 m0.1 μm (32Bit)1.0 μm/s (32Bit)10.0 μm/s2 (32Bit)
±100m0.1 μm (32Bit)Max. 100 Time CurvesMax. 16’000 points
±100m0.1 μm (32Bit)Max. 100 Time CurvesMax. 16’000 points
32 Bit32 Bit8 kHz0.25 - 5 ms
Stroke [mm]
Stroke [mm]
Stroke [mm]
Stroke [mm]
Time [ms]
Time [ms]
Time [ms]
Time [ms]
Goto 100 mmvmax = 2,5 m/samax = 3,0 m/s2
Start Curve 1
Goto Pos 125 mmwith Profil 1
Curve 1
Curve 1
SERVO DRIVES
/ OPERATING MODES /
11
881EDITION 24SUBJECT TO ALTERATIONS
With the Easy Steps function, up to 4 positions or independent travel commands can be stored on the drive, and addressed via 4 digital in-puts or fieldbus interfaces/Ethernet.
Entire motion sequences with up to 255 individual motion commands can be stored in the Command Table. This is primarily advantageous if complete motion sequences need to be executed very quickly, without dead time from the overlaid PLC. In the Command Table, the program-mer has access to all motion commands, internal parameters, and dig-ital inputs and outputs.
For an analog position target, the linear motor travels to a position pro-portional to the input voltage. The position is either scanned continu-ously, or only after a rising edge of the trigger signal. In order to prevent uncontrolled jumps in position, the motor travels to the positions with a programmable maximum acceleration and velocity (VA interpolator).
Easy Steps provide the ability to parameterize internal parameters us-ing two analog inputs. If, for example, the maximum motor current is read at an analog input, then the maximum motor force can be provid-ed as analog for freely programmable joining processes.
EASY STEPS
COMMAND TABLE
ANALOG POSITION
EASY STEPS PARAMETER SCALE
Digital inputs:Interface:Scanning rate:
Commands:Cycle time:
Inputs:Voltage range:Resolution:Scanning rate:
Inputs:Voltage range:Resolution:Scanning rate:
4X4250 μsec
max. 255125 μsec
Analog Input X40-10VDC or ±10V 12 Bit >=125 μsec (adjustable)
2 x Analog0-10VDC12 Bit 250 μsec
Wait Input
Terminate A
Pos 12mm
Rule 1
Start
Stop
10VPosition
0VPosition
Force Max
Maximum Force [0...10V => 0...100%]
Time [ms]0%
100%
Input 1 Pos 125 mm
Input 2 Pos 250 mm
Input 3 Curve 1
Input 4 Pos -30 mm
SERVO DRIVES
/ OPERATING MODES /
11
882EDITION 24
SUBJECT TO ALTERATIONS
Using the force control technology function, precise joining process-es can be implemented reliably and reproducibly with high-precision force control. For force control, the current motor force is measured with a load cell and controlled in the drive. Joining process or quality checks with high requirements for applied force can be implemented.
CLOSED LOOP FORCE CONTROL
Analog input:Resolution:Min. Force Resolution:
0-10V or ±10V12 Bit0.1N
FMot= 0,1...580N
0...10V Fone
Load Cell
SERVO DRIVES
/ SYSTEM OVERVIEW /
11
883EDITION 24SUBJECT TO ALTERATIONS
Interfaces C1250-PN-XC C1250-PD-XC C1250-EC-XC C1250-DS-XC C1250-SE-XC C1250-IP-XC C1250-PL-XC C1250-SC-XC C1250-LU-XC
PROFINET •PROFINET ProfiDrive •ETHERCAT •ETHERCAT CiA402 •ETHERCAT SoE •ETHERNET IP •POWERLINK •SERCOS III •LinUDP •
X1 MOT SUPPLY
PW
R+
PG
ND
1+ 1
- 2+ 2
-S
CR
X2 MOT PHASES
X3 MOTOR SENSOR
X3 1
n.c
.
6
n.c
.2
n.c
.
7
n.c
.3
+5V
DC
8
AG
ND
4
SIN
9
CO
S5
TE
MP
X7 / X
8 X13
S3
S5
DIFF HALL SWX13 EXT POS SENS /
1 R
S4
85
Rx+
2 R
S4
85
Rx-
3 R
S4
85
Tx+
4 G
ND
5 G
ND
6 R
S4
85
Tx-
7 C
AN
H8
CA
N L
1 C
MD
RS
48
5 T
erm
2 C
MD
CA
N T
erm
3 B
oo
tstr
ap
X19 S
YS
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M1
Do
no
t co
nn
ect
2 D
o n
ot
co
nn
ect
3 R
S2
32
RX
4 G
ND
5 G
ND
6 R
S2
32
TX
7 D
o n
ot
co
nn
ect
8 D
o n
ot
co
nn
ect
8
Ha
ll S
w /
W1
5
Ha
ll S
w W
7
Ha
ll S
w /
V1
4
Ha
ll S
w V
6
Ha
ll S
w /
U1
3
Ha
ll S
w U
5
GN
D1
2
Se
ns A
larm
4
Se
ns /Z
11
Se
ns Z
3
Se
ns /B
10
S
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s B
2
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9
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11 AnIn-10 AnIn+9 In8 In7 In6 In5 In4 Out3 Out+24VDCDGND
X19
SYST
EMX4
LO
GIC
SUP
PLY
/ CO
NTRO
LENW
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LO
WID
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12
34
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O N
ERRO
R
X17
RT IN
X18
RT O
UTO
KS2
S1
RT B
USER
ROR
X1: Motor Supply
X2: Motor Phases
X3: Motor Signal
S1-2: Bus Address
LED RT Bus
LED State Indicator
X4: Logic Supply / Control
X19: System Configuration RS232
X13: External Position Sensor Differential Hall Switch
X17 RT ETH In
X18 RT ETH Out
X33: STO Relais (only for 1S option)
SERVO DRIVES
/ SYSTEM OVERVIEW /
11
884EDITION 24
SUBJECT TO ALTERATIONS
250 μs250 μs125 μs125 μs
62.5 μs
C1250-PN-XCC1250-EC-XCC1250-IP-XCC1250-PL-XCC1250-SC-XCC1250-SE-XCC1250-PD-XCC1250-DS-XCC1250-LU-XC
» Absolute & Relative Positioning » Time based motion profiles » Internally stored Motion Sequences » Position Streaming » Analog Position Target » Analog Parameter Scaling » Force Control Technology Function » Customer-Specific Functions
Series C1200 drives allow integration of Lin-Mot linear motors in controls concepts with industrial Ethernet interfaces. The user can integrate Series C1200 drives regardless of the provider of the overlaid control.
LinMot drives are available with common industrial Ethernet protocols. Since all Ethernet drives have the same motion command interface, and the control and status word are identical, software blocks that have been implemented once can be transferred to other drives without a problem.
The series C1200 servo drives support the following industrial Ethernet protocols:
» Profinet » EtherCAT » Ethernet IP » PowerLink » Sercos III » Sercos over EtherCAT » ProfiDrive » CiA 402 » LinUDP
The appropriate drive is available for each protocol.
INDUSTRIAL ETHERNET TECHNICAL DATA
Type:Switch/Hub:
Transfer rate:
Minimal cycle times: Bus cycle: IO update: Trigger Input: Position control loop: Current control loop:
Realtime ETHERNETIntegrated 2-PortHub/Switch10/100MBit/sec
X1 MOT SUPPLY
PW
R+
PG
ND
1+ 1
- 2+ 2
-S
CR
X2 MOT PHASES
X3 MOTOR SENSOR
X3 1
n.c
.
6
n.c
.2
n
.c.
7
n
.c.
3
+5
VD
C
8
AG
ND
4
SIN
9
C
OS
5
TE
MP
X7
/ X
8 X1
3
S3
S5
DIFF HALL SWX13 EXT POS SENS /
1 R
S4
85
Rx+
2 R
S4
85
Rx-
3 R
S4
85
Tx+
4 G
ND
5 G
ND
6 R
S4
85
Tx-
7 C
AN
H8
CA
N L
1 C
MD
RS
48
5 T
erm
2 C
MD
CA
N T
erm
3 B
oo
tstr
ap
X1
9 S
YS
TE
M1
Do
no
t co
nn
ect
2 D
o n
ot
co
nn
ect
3 R
S2
32
RX
4 G
ND
5 G
ND
6 R
S2
32
TX
7 D
o n
ot
co
nn
ect
8 D
o n
ot
co
nn
ect
8
Ha
ll S
w /
W1
5
Ha
ll S
w W
7
Ha
ll S
w /
V1
4
Ha
ll S
w V
6
Ha
ll S
w /
U1
3
Ha
ll S
w U
5
GN
D1
2
Se
ns A
larm
4
Se
ns /Z
11
Se
ns Z
3
Se
ns /B
10
S
en
s B
2
Se
ns /A
9
S
en
s A
1
+5
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11 AnIn-10 AnIn+9 In8 In7 In6 In5 In4 Out3 Out+24VDCDGND
X19
SYST
EMX4
LO
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SUP
PLY
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VO
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X17
RT IN
X18
RT O
UTO
KS2
S1
RT B
USER
ROR
X1: Motor Supply
X2: Motor Phases
X3: Motor Signal
S1-2: Bus Adress
LED RT Bus
LED State Indicator
X4: Logic Supply / Control
X19: System Configuration RS232
X13: External Position Sensor Differential Hall Switch
X17 RT ETH In
X18 RT ETH Out
X33: STO Relais
SERVO DRIVES
/ SYSTEM OVERVIEW /
11
885EDITION 24SUBJECT TO ALTERATIONS
3X19
8X17 / X18
8
S1-S2
X13
X4
X3
X1
X2
PE
X33
C1250-Series
24...85V DC
PH1+ / UPH1- / VPH2+ / WPH2-PE
8 ID HIGH7654 ID LOW321
10/100 MBaudINDUSTRIALETHERNET
RS232
10/100 MBaudINDUSTRIALETHERNET
SUPPLY3x400VAC230VAC115VAC
SYSTEM INTERFACE:RS232
LINEAR MOTOREC MOTORDC MOTOR
ANALOG5VSIN/COSPOSITION SENSORTEMP INPUTBRAKE OUTPUT
DIGITALPOSITION SENSOR
ANALOG INPUTS
OUTPUTS
FAST PROCESSINPUTS
LOGIC SUPPLY
MACHINE SAFETY
ONLY -1S
STO
KTYBrake+
SINCOSTEMP.+5VGND
A+A-B+B-Z+Z-U+U-V+V-W+W-ENC ALARM+5VDCGND
ANALOG INPUT+ANALOG INPUT-ANALOG INPUT
DIGITAL INPUTS
DIGITAL OUTPUTS
+24VDCGND
MOTOR SUPPLY
SERVO DRIVES
/ INTERFACES /
11
886EDITION 24
SUBJECT TO ALTERATIONS
X1 + PE MOTOR SUPPLY / REGENERATION RESISTOR
X2 MOTOR PHASES
X3 MOTOR SENSOR / BRAKE
Nr Designation LinMot Linear Motor Color 3-Phase EC-Motor Color
1 PH1+ Motor Phase 1+ red Motor Phase U red
2 PH1- Motor Phase 1- pink Motor Phase V pink
3 PH2+ Motor Phase 2+ blue Motor Phase W blue
4 PH2- Motor Phase 2- grey Motor Phase X grey
5 PE/SCR Shield Shield
Nr LinMot Motor EC Motor
1 Do not connect Do not connect
6 Brake+ Brake+
2 Do not connect Do not connect
7 Do not connect KTY
3 +5VDC +5VDC
8 AGND AGND
4 Sensor Sine Sensor Sine / Hall Switch U
9 Sensor Cosine Sensor Cosine / Hall Switch V
5 Temp In Hall Switch W
Case Shield Shield
Motor Supply: 72VDC nominal, 24...85VDCAbsolute max. Rating: 72VDC +20%.External Fuse: 16A slow-blow / min. 100VDCIf motor supply voltage exceeds 90VDC, the drive will go into error state.
» Use 60/75°C copper conductors only » Conductor Cross-Section 2.5mm2 (AWG14) max Length 3 m
» Use 60/75°C copper conductors only » Conductor cross-section: 0.5 – 2.5mm2 (depends on Motor current) / AWG 21 -14
» Use +5V (X3.3) and AGND (X3.8) only for motor internal hall sensor supply (max. 100mA) » Cable length < 30 m » Brake+: 24V / max. 500mA, Peak 1.4mA (will shut down if exceeded) » Caution: Do NOT connect AGND (X3.8) to ground or earth!
Connector hasto be orderedseparately
Connector has to beordered separetely
DSUB-9
1
2
3
4
5PE / SCR
1+ u
1- v
2+ w
2- x
612345
789
PWR +
PGND
16A slow-blow1
2 1
2
PWR+
PGND
24...85VDC
GND
GND internally connected to controllerhousing which is connected to PE
M5 PE Screw
SERVO DRIVES
/ INTERFACES /
11
887EDITION 24SUBJECT TO ALTERATIONS
612345
789Shield
5
4
3
2
1
6
7
8
9
1
2
3
4
5
X2
X3
1
2
3
4
5PE /SCR
1+ u
1- v
2+ w
2- x
X4 LOGIC SUPPLY / IO CONNECTION
Nr11 AnIn- X4.11 Configurable Analog Input differential (with X4.10)
10 AnIn+ X4.10 Configurable Analog Input differential (with X4.11)
9 AnIn X4.9 Configurable Analog Input single ended
8 In X4.8 Configurable Input
7 In X4.7 Configurable Input
6 In X4.6 Configurable Input
5 In X4.5 Configurable Input
4 Out X4.4 Configurable Output
3 Out X4.3 Configurable Output
2 +24VDC Supply Logic Supply 22-26 VDC
1 GND Supply GroundDSUB-9 (f)Spring cage connector (has to be ordered sepa-rately)
Use Y-style motor cables only (for example K15-Y/C)!A W-style cable has a different shielding, so it cannot be modified to a Y-style cable!
Inputs: (X4.5...X4.8)Outputs: (X4.3 & 4.4)Analog inputs:
X4.9:X4.10/X4.11:
Supply 24V:
24V / 5mA (Low Level: –0.5 to 5VDC, High Level: 15 to 30VDC)24V / max. 500mA, Peak 1.4mA (will shut down if exceeded)12 bit A/D converted.Single ended analog input to GND, 0..10V, Input Resistance: 51kΩ to GNDDifferential analog input, +/- 10V. Common mode range: +/- 5VDC to GND.Input Resistance: 11.4kΩ for each signal to GNDtypically 500mA / max. 2.5A (if all outputs “on” with max. load.)
» Use 60/75°C copper conductors only » Conductor cross-section max. 1.5 mm2
» Stripping length: 10 mm » The 24VDC supply for the control circuit (X4.2) must be protected with
an external fuse (3A slow blow)
GREY
BLUE
PINK
RED
WHITE
INNER SHIELD
YELLOW
GREEN
BLACK
PE / SCR
PHASE 2-
PHASE 2+
PHASE 1-
PHASE 1+
DO NOT CONNECT
DO NOT CONNECT
+5VDC
AGND
SINE
COSINE
TEMP
OUTER SHIELD
BRAKE+
KTY
X2
X3: DSUB-9 (f)
Ferrite Core
X4. 11 X4. 10X4. 9X4. 8X4. 7X4. 6X4. 5X4. 4X4. 3+24VDCDGND 1
L
ogic
Sup
ply
/ Con
trol
1
1
SERVO DRIVES
/ INTERFACES /
11
888EDITION 24
SUBJECT TO ALTERATIONS
X17 - X18 REALTIME ETHERNET 10/100 MBIT/S
X19 SYSTEM
X13 EXTERNAL POSITION SENSOR PIN CONFIGURATION
Nr ABZ with Hall Switches SSI / BiSS / EnDat1 +5V DC +5V DC
9 A+ A+
2 A- A-
10 B+ B+
3 B- B-
11 Z+ Data+
4 Z- Data-
12 Encoder Alarm Encoder Alarm
5 GND GND
13 U+ nc
6 U- nc
14 V+ nc
7 V- nc
15 W+ Clk+
8 W- Clk-
Case Shield Shield
Nr1 (do not connect)
2 (do not connect)
3 RS232 RX
4 GND
5 GND
6 RS232 TX
7 (do not connect)
8 (do not connect)
case Shield
NrX17 RT ETH In Specification depends on RT-Bus Type.
Please refer to interface documentation.X18 RT ETH Out
Position Encoder Inputs (RS422):
Differential Hall Switch Inputs (RS422): Enc. Alarm In: Sensor Supply:
Max. counting frequency: 25 M counts/s with quadrature decoding. A minimum of 40ns edge separation must be guaranteed by the encoder under any circumstances! The maximal frequency of each signal is 6.25 MHz.Input Frequency: <1kHz 5V / 1mA 5VDC, max 100mA
DSUB-15 (f)
RJ-45
RJ-45
Use isolated USB-RS232 converter (Art.-No. 0150-2473) for configuration over RS232
912345678
101112131415
1
81
8
12345678
1
8
SERVO DRIVES
/ INTERFACES /
11
889EDITION 24SUBJECT TO ALTERATIONS
X33 SAFETY RELAYS (ONLY FOR -1S)
Nr4 / 8 Ksr + Safety Relay 1 / 2 Input possitive
3 / 7 Ksr - Safety Relay 1 / 2 Input negative
2 / 6 Ksr f+ Safety Relay 1 / 2 feedback positive
1 / 5 Ksr f- Safety Relay 1 / 2 feedback negative
Spring cageconnector
» Use 60/75°C copper conductors only » Conductor cross-section max. 1.5 mm2
» Stripping length: 10 mm » Never connect the safety relays to the logic supply of the drive!
S1 - S2 ADDRESS SELECTORS
S1 (5...8) Bus ID High (0 … F). Bit 5 is the LSB, bit 8 the MSB.
S2 (1...4) Bus ID Low (0 … F). Bit 1 is the LSB, bit 4 the MSB
Setting the ID high & low to FF resets the drive to manfacturer settings!The use of these switches depends on the type of fieldbus which is used.Please see the corresponding manual for further information.
S5 BUS TERMINATION
S5 Bootstrap (Internal use only)
LEDS STATE DISPLAY
24VOK Green 24V Logic Supply OK
En Yellow Motor Enabled / Error Code Low Nibble
Warn Yellow Warning / Error Code High Nibble
Error Red Error
RT BUS LEDS
BUS OK Green OK
BUS Error Red Error
The use of these LEDs depends on the type of fieldbus which is used.Please see the corresponding manual for further information.
12
34
56
78
S2
S1
ON
BUSOK
BUSError
24VOKENWarn
Error
X33. 4/8 Ksr+X33. 3/7 Ksr-X33. 2/6 Ksr f+X33. 1/5 Ksr f-
X33
STO
REL
AYS
24VOKENWarn
Error
Default positionView: X13 Connecter is left next to S5 switch.
SERVO DRIVES
/ DIMENSIONS /
11
890EDITION 24
SUBJECT TO ALTERATIONS
188206
166
106
25.3
198216
176
106
25.3
12
34
56
78
O N
11 In
10 In
9 In
8 In
7 Out
6 Out
5 Out
4 Out
3 Out
24VDC
DGND
X19
SYST
EMX4
LO
GIC
SUP
PLY
/ CO
NTRO
LEN
WAR
NER
ROR
24V
OK
81
X17
RT IN
18
X18
RT O
UTO
KS2
ID L
OW
ID H
IGH
S1
RT B
USER
ROR
18
111
12
34
56
78
O N
11 In
10 In
9 In
8 In
7 Out
6 Out
5 Out
4 Out
3 Out
24VDC
DGND
X19
SYST
EMX4
LO
GIC
SUP
PLY
/ CO
NTRO
LEN
WAR
NER
ROR
24V
OK
81
X17
RT IN
18
X18
RT O
UTO
KS2
ID L
OW
ID H
IGH
S1
RT B
USER
ROR
18
111
Dimensions in mmMounting points for M5 screws
Servo Drive Series C1250-...-0S C1250-...-1SWidth mm (in) 25.3 (1.0)
Height mm (in) 166 (6.5) 176 (6.9)
Height with fixings mm (in) 206 (8.1) 216 (8.5)
Depth mm (in) 106 (4.2)
Weight g (lb) 630 (1.4) 700 (1.54)
Mounting Screws 2 x M5 2 x M5
Mounting Distance between screw holes mm (in) 168 (6.61) 188 (7.4)
Case IP Code IP 20
Storage temperature oC -25...40
Transport temperature oC -25...70
Operating temperature oC 0...40 at rated date40...50 with power derating
Relative humidity 95% (non-condensing)
Pollution IEC/EN 60664-1 Pollution degree 2
Shock resistance (16 ms) -1S option 3.5g
Vibration resistance (10-200Hz) -1S option 1g
Max. case temperature oC 70
Max. power dissipation W 30
Mounting place in the control cabinet
Mounting position vertical
Distance between Drives mm (in)
Without Power Derating:20 (0.8) left/right / 50 (2) top/bottom
With Power Derating:5 (0.2) left/right / 20 (0.8) top/bottom
C1250-...-0S
CentralPoints Central
Points
C1250-...-1S
SERVO DRIVES
/ ORDERING INFORMATION /
11
891EDITION 24SUBJECT TO ALTERATIONS
188206
166
106
25.3
198216
176
106
25.3
12
34
56
78
O N
11 In
10 In
9 In
8 In
7 Out
6 Out
5 Out
4 Out
3 Out
24VDC
DGND
X19
SYST
EMX4
LO
GIC
SUP
PLY
/ CO
NTRO
LEN
WAR
NER
ROR
24V
OK
81
X17
RT IN
18
X18
RT O
UTO
KS2
ID L
OW
ID H
IGH
S1
RT B
USER
ROR
18
111
12
34
56
78
O N
11 In
10 In
9 In
8 In
7 Out
6 Out
5 Out
4 Out
3 Out
24VDC
DGND
X19
SYST
EMX4
LO
GIC
SUP
PLY
/ CO
NTRO
LEN
WAR
NER
ROR
24V
OK
81
X17
RT IN
18
X18
RT O
UTO
KS2
ID L
OW
ID H
IGH
S1
RT B
USER
ROR
18
111
Servo Drives
Item Description Part Number
C1250-PN-XC-0S-000 ProfiNet Drive (72V/25A) 0150-1888
C1250-PD-XC-0S-000 ProfiNet ProfiDrive (72V/25A) 0150-2618
C1250-EC-XC-0S-000 EtherCAT Drive (72V/25A) 0150-1884
C1250-DS-XC-0S-000 EtherCAT CoE Drive (72V/25A) 0150-2415
C1250-SE-XC-0S-000 EtherCAT SoE Drive (72V/25A) 0150-1897
C1250-IP-XC-0S-000 Ethernet/IP Drive (72V/25A) 0150-1886
C1250-PL-XC-0S-000 Powerlink Drive (72V/25A) 0150-1885
C1250-SC-XC-0S-000 Sercos III Drive (72V/25A) 0150-1887
C1250-LU-XC-0S-000 ETHERNET LinUDP Drive (72V/25A) 0150-2491
C1250-PN-XC-1S-000 Profinet Drive (72V/25A), STO 0150-2348
C1250-PD-XC-1S-000 ProfiNet ProfiDrive (72V/25A), STO 0150-2619
C1250-EC-XC-1S-000 EtherCAT Drive (72V/25A), STO 0150-2345
C1250-DS-XC-1S-000 EtherCAT CoE Drive (72V/25A), STO 0150-2416
C1250-SE-XC-1S-000 EtherCAT SoE Drive (72V/25A), STO 0150-2350
C1250-IP-XC-1S-000 Ethernet/IP Drive (72V/25A), STO 0150-2346
C1250-PL-XC-1S-000 Powerlink Drive (72V/25A), STO 0150-2347
C1250-SC-XC-1S-000 Sercos III Drive (72V/25A), STO 0150-2349
C1250-LU-XC-1S-000 ETHERNET LinUDP Drive (72V/25A), STO 0150-2492
Accessories
Item Description Part Number
DC01-CX000-0S/X1/X4 Connector set C1250-...-0S (X1, X4) 0150-3527
DC01-CX000-1S/X1/X4/X33 Connector set C1250-...-1S (X1, X4, X33) 0150-3528
DC01-C1X00/X1 Drive Connector for PWR 72DC Input 0150-3525
DC01-CX000-X2 Motor connector (X2) 0150-3526
DC01-Signal/X4 Drive Connector 24VDC & Logic 0150-3447
DC01-Safety/X33 Drive Connector Safety 0150-3451
SERVO DRIVES
/ NOTES /
11
892EDITION 24
SUBJECT TO ALTERATIONS
SERVO DRIVES
11
893EDITION 24SUBJECT TO ALTERATIONS
Absolute / relative positioning commands
Limited jerk motion commands
Time Curves
Real Time (Streaming)
Synchronous control (Drive profiles)
Master Encoder Synchronization (In/Out)
PLC or Stand-Alone Solutions
Industrial Ethernet Configuration / Remote Access Ethernet
Digital and Analog IO’s
Interface for optional incremental and absolute sensor
Position Encoder Simulation (RS 422)
Master / Slave Solutions
± 10 VDC Force Control
Supports Plug and Play
CE
SERIES E1200
SERVO DRIVES
/ PRODUCT DESCRIPTION /
11
894EDITION 24
SUBJECT TO ALTERATIONS
Servo Drive E1200
Series E1200 Servo Drives are modular axis drives, with 32-bit position resolution and an integrated pow-er stage, for linear and rotary motors.
The drives are suitable for simplest, standard, and high-end positioning tasks, across the entire force range of the LinMot product range.
The Series E1200 Servo Drives can be ac-tuated by machine controls from many manufacturers or brands, via digital in-puts and outputs, RS232 or RS485 serial interface, CanBus CANopen and DeviceN-et interfaces, Profibus DP, or industrial ETHERNET.
Fast process interfaces for direct process-ing of sensor signals are available as freely programmable analog and digital inputs, a fast trigger input, and a capture input.
The safe pulse inhibitor on Servo Drive with fieldbus interfaces or industrial ETH-ERNET allows safe stop of the drives via control signals, per EN 954-1, without in-terrupting the power supply.
The Servo Drives have two separate pow-er supply inputs for the logic and power elements.
In an E-stop and safe stop of the drive, only the power element supply is cut off from the drive. The logic supply and the drive continue to run.
This has the advantage that the drive and linear motor do not need to be reinitial-ized when the machine is restarted, since all process data, including the current position of the linear motor, are still up to date.
CONNECTION TO MACHINE DRIVE PROCESS AND SAFETY INTERFACES LOGIC AND POWER SUPPLY
SERVO DRIVES
/ PRODUCT DESCRIPTION /
11
895EDITION 24SUBJECT TO ALTERATIONS
System Integration
Flexible hardware enables control of many 1/2/3- phase motors. Thus, low-power rotary servomotors, such as brushless DC motors, can be integrated in the same controls concept.
Additionally, the drives can be equipped with optional peripherals, such as refer-ence and end stop switches, high-preci-sion external position sensors, or a me-chanical holding brake.
Series E1200 Servo Drives have analog and digital inputs and outputs, serial interfaces, fieldbusses, and ETHERNET connections. The user is therefore not dependent on the selection of the over-laid drive. An appropriate interface is available, with associated protocols, for any PLC or IPC solution.
With flexibility and a compact form factor, LinMot Series E1200 Servo Drives provide a complete solution for a flexible drive concept in single and multiple axes appli-cations, with linear motors and other actu-ators.
For synchronization to a mechanical mas-ter shaft, or a rotating main drive, the Axis (linear motors and rotary motors) can be coupled to an electronic main shaft via the Master Encoder Interface.
The encoder signal from the main shaft can be passed through by the Master En-coder Interface, so that any number of linear motors can be synchronized to the main shaft.
E1200 Servo Drives provide all neces-sary interfaces to operate linear or rotary motors with optional external periph-erals, such as end position and refer-ence switches, a mechanical brake, or a high-resolution external position sensor.
In special applications, two drives can be synchronized with each other using the synchronization interface in master booster mode.
Parameterization and configuration of the Servo Drive is done via the Ethernet interface on the front side for simultane-ous configuration of several drives.
LinMot Talk user-friendly PC software is available for configuration. In addition to online documentation, LinMot Talk pro-vides extensive debugging tools, such as an oscilloscope and an error inspector, for simple and rapid start-up of the Axis.
Fieldbus and ETHERNET drives can also be configured directly by the overlaid control.
MASTER ENCODER MOTOR INTERFACES CONFIGURATION
LogicSupply
TriggerInputs
MotorSupply
Capture
SVE
Regenera-tion
Resistor
AnalogInputs
ETHERNET(RS232)
MasterEncoder
In
Fieldbusses and interfaces to the overlaid control
LinmotServo DriveSeriesE1200
Position Drive:• 32 Bit Position Value• Resolution 0.1μm
Run Modes:• VA Interpolated Moves• Analog Position• Run Curves• Two Point Trigger
Moves• Master Encoder
Synchronisation• Streaming P, PV• Step, Direction
Internal stored Curves:• Max. 99 Curves• Up to 15´000 set points
Command Table:• Up to 255 Commands
Optional Limit and Home Switches
Optional Brake
Supp
ly a
nd S
afet
yFa
st P
roce
ss In
puts
Conf
ig.
Conf
ig.
Sync
h.
Sync
h.
Optional external Position Sensor
DigitalI/O´s
ProfibusDP
CANopen
SercosIII
PowerLink
EthernetIP
EtherCAT
Limit - Switch
Device-Net
Home Switch
RS232RS485 ProfiNet
Limit + Switch
External Position Sensor
ETHERNET
MasterEncoder
Out
LinMot LinearMotor or other1/2/3 phase motor(Brushless DC,Voice Coil,...)
SERVO DRIVES
/ OPERATING MODES /
11
896EDITION 24
SUBJECT TO ALTERATIONS
For direct position targets, using absolute or relative positioning, the desired position is reached using acceleration and velocity-limited mo-tion profiles or jerk optimized profiles ( jerk limited and Bestehorn). Po-sitioning commands can be invoked via the serial interfaces, CANopen,DeviceNet, Profibus, Ethernet or a trigger input.
Up to 100 different time curves can be stored Series E1200 drives, with up to 16,000 individual waypoints. The motor can thus travel along time curves of any complexity, such as those generated by CAD programs and stored in the drive (Excel CSV format). The time curves can be invoked via the serial interface, fieldbusses, ETHERNET, or the trigger input.
For travel to an absolute position, or shifting by a relative position, any desired motion rules can be stored besides the VA interpolator. They are stored in the drive as motion profiles (Excel CSV format). The po-sitions can be approached, for example, with a sinusoidal motion to optimize power loss, or special reverse optimized motion profiles.
Overlaid NC drives with fieldbus or ETHERNET interfaces communicate with the Servo Drives via "Position Streaming". The position and veloc-ity calculated in the overlaid control is transmitted to the Servo Drive cyclically. The P, PV, or PVT mode is available for this transmission.
INTERPOLATED MOVES
TIME CURVES
PROFILED MOVES
SETPOINT STREAMING
Stroke range:Position Resolution:Velocity Resolution:Acceleration Resol.:
Stroke range:Position Resolution:Motion profiles:Curve points:
Stroke range:Position Resolution:Motion profiles:Curve points:
Position Resolution:Velocity Resolution:Interpolator:Cycle times:
±100 m0.1 μm (32Bit)1.0 μm/s (32Bit)10.0 μm/s2 (32Bit)
±100m0.1 μm (32Bit)Max. 100 Time CurvesMax. 16’000 points
±100m0.1 μm (32Bit)Max. 100 Time CurvesMax. 16’000 points
32 Bit32 Bit10 kHz0.4 - 5 ms
Stroke [mm]
Stroke [mm]
Stroke [mm]
Stroke [mm]
Time [ms]
Time [ms]
Time [ms]
Time [ms]
Goto 100 mmvmax = 2,5 m/samax = 3,0 m/s2
Start Curve 1
Goto Pos 125 mmwith Profil 1
Curve 1
Curve 1
SERVO DRIVES
/ OPERATING MODES /
11
897EDITION 24SUBJECT TO ALTERATIONS
With the Easy Steps function, up to 8 positions or independent travel commands can be stored on the drive, and addressed via 8 digital in-puts or fieldbus interfaces/ETHERNET.
Entire motion sequences with up to 255 individual motion commands can be stored in the Command Table. This is primarily advantageous if complete motion sequences need to be executed very quickly, with-out dead time from the overlaid drive. In the Command Table, the pro-grammer has access to all motion commands, internal parameters, and digital inputs and outputs.
For synchronization to an external main or master shaft, the linear mo-tor travels along the motion profiles stored in the drive, at the machine speed (machine angle 0…360°). Using this function, mechanical cam discs can be replaced with highly dynamic linear motors. The motion profiles can be freely defined, and the correct motion profile can be in-voked during product changeover with no changeover time.
Synchronization to a belt speed can be done using the Master Encod-er Interface or Step/Direction/ Zero interface. Applications such as the "flying saw", synchronous loading or unloading, synchronous filling or labeling of bottles or containers on a conveyor belt, and many other applications can be implemented in this way.
EASY STEPS
COMMAND TABLE
MASTER ENCODER SYNCHRONIZATION (MT)
BELT SYNCHRONIZATION
Digital inputs:Interface:Scanning rate:
Commands:Cycle time:
Motion profiles:Curve points:Encoder Counter:Encoder Input:Max. counting frequency
Encoder Counter:Encoder Input:
Max. counting frequency
max. 8X4200 μsec
max. 255100 μsec
Max. 100 curve profilesMax. 16’000 points32 Bit A/B/Z (RS422)Max. 4.5 MHz
32 BitA/B/Z (RS422), max. 5 MHzSTEP/DIR/ZEROMax. 4.5 MHz
0 90o 180o 270o 360o
Stroke [mm]
v [m/s]
v Belt
Time [ms]
Time [ms]
Curve 1
counts/sec
Wait Input
Terminate A
Pos 12mm
Rule 1
Start
Stop
Input 1 Pos 125 mm
Input 2 Pos 250 mm
Input 3 Curve 1
Input 4 Pos -30 mm
Input 5 Pos +12,5 mm
Input 6 Curve 2
Input 7 Pos 2 mm
Input 8 Pos -12,5 mm
SERVO DRIVES
/ OPERATING MODES /
11
898EDITION 24
SUBJECT TO ALTERATIONS
For an analog position target, the linear motor travels to a position pro-portional to the input voltage. The position is either scanned continu-ously, or only after a rising edge of the trigger signal. In order to prevent uncontrolled jumps in position, the motor travels to the positions with a programmable maximum acceleration and velocity (VA interpolator).
Easy Steps provide the ability to parameterize internal parameters using two analog inputs. If, for example, the maximum motor current is read at an analog input, then the maximum motor force can be provided as analog for freely programmable joining processes.
Using the force control technology function, precise joining process-es can be implemented reliably and reproducibly with high-precision force control. For force control, the current motor force is measured with a load cell and controlled in the drive. Joining process or quality checks with high requirements for applied force can be implemented.
For winding textile yarns, glass fiber optics, or wires, a complete func-tional block is available that controls the entire sequence of a complete winding process.
ANALOG POSITION
EASY STEPS PARAMETER SCALE
CLOSED LOOP FORCE CONTROL
WINDING APPLICATION
Inputs:Voltage range:Resolution:Scanning rate:
Inputs:Voltage range:Resolution:Scanning rate:
Analog Input:Resolution:Min. Force Resolution:
Analog Input X4 or X200-10VDC or ±10V12 Bit>=100 μsec (adjustable)
2 x Analog (X4.4, X4.7)0-10VDC12 Bit200 μsec
0-10V or ±10V12 Bit0.1N
Force Max
Maximum Force [0...10V => 0...100%]
FMot= 0,1...580N
0...10V Fone
10VPosition
Time [ms]0%
Load Cell
0VPosition
100%
SERVO DRIVES
/ SYSTEM OVERVIEW /
11
899EDITION 24SUBJECT TO ALTERATIONS
Interfaces E1250-PL-UC E1250-PN-UC E1250-SC-UC E1250-IP-UC E1250-LU-UC E1250-EC-UC E1250-SE-UC E1250-DS-UC E1230-DP-UC E1200-GP-UC
CANopen •LinRS •POWERLINK •PROFINET •sercos •sercos over EtherCAT •
ETHERNET IP •LinUDP •EtherCAT •ETHERCAT CiA402 •
PROFIBUS-DP •
X4.12 SVEEnable=24VX4.11 IO PTC2X4.10 IO PTC1X4.9 IO LIM+X4.8 IO LIM-X4.7 IO HSWX4.6 IO TRIGX4.5 IO CAPX4.4 IO ANX4.3 IO /BRK +24VDCDGND
24VOKEN
OK
ERROR
ERROR
WARNINGID HIGH
ID LOWRT BUS
12
X3
X13
1
X4
S2
S1
X2
X1
MO
T SU
PPLY
MO
T PH
ASE
S
MO
TOR
SENS
OR
EXT
POS
SEN
/ DIF
F HA
LL S
WLO
GIC
SU
PPLY
/ C
ON
TRO
LX1
5/X1
6 C
FGX1
7/X1
8 R
T
X1: Motor Supply Regeneration Resistor
X2: Motor Phases
X3: Motor Signal
X13: External Position Sensor
X4: Control Logic Supply
LED State DisplayS1-2: Bus AddressLED State DisplayX17: RealTime ETHERNETX18: "X15: ETHERNET ConfigurationX16: "
S5: Bus TerminationX19: System Configuration RS232X20: Analog In (± 10V)X8: RS485 / CAN OutX7: RS485 / CAN InX11: Master Encoder OutX9: Profibus (only -DP)X10: Master Encoder In
SERVO DRIVES
/ SYSTEM OVERVIEW /
11
900EDITION 24
SUBJECT TO ALTERATIONS
E1250-PL-UCE1250-PN-UCE1250-PD-UCE1250-SC-UCE1250-IP-UCE1250-LU-UCE1250-EC-UCE1250-SE-UCE1250-DS-UCE1200-GP-UC
» Absolute & Relative Positioning » Travel Along Time Curves » Positioning using Motion Profiles » Internally stored Motion Commands » Internally stored Motion Sequences » Master Encoder Synchronization » Synchronization to Belt Speed » Position Streaming » Analog Position Target » Analog Parameter Scaling » Winding Function Block » Force Control Technology Function » Customer-Specific Functions
Series E1200 drives allow integration of Lin-Mot linear motors in controls concepts with industrial ETHERNET interfaces. The user can integrate Series E1200 drives regardless of the provider of the overlaid control.
LinMot drives are available with common industrial ETHERNET protocols. Since all ETHERNET drives have the same motion command interface, and the control and sta-tus word are identical, software blocks that have been implemented once can be trans-ferred to other drives without a problem.
Series E1200 Servo Drives support the fol-lowing industrial ETHERNET protocols:
» Profinet » ETHERNET IP » PowerLink » EtherCat » Sercos III
The appropriate drive is available for each protocol.
INDUSTRIAL ETHERNET TECHNICAL DATA TECHNICAL DATA
Type:Switch/Hub:
Transfer rate:
Realtime ETHERNETIntegrated 2-PortHub/Switch10/100MBit/sec
X4.12 SVEEnable=24VX4.11 IO PTC2X4.10 IO PTC1X4.9 IO LIM+X4.8 IO LIM-X4.7 IO HSWX4.6 IO TRIGX4.5 IO CAPX4.4 IO ANX4.3 IO /BRK +24VDCDGND
24VOKEN
OK
ERROR
ERROR
WARNINGID HIGH
ID LOWRT BUS
12
X3
X13
1
X4
S2
S1
X2
X1
MO
T SU
PPLY
MO
T PH
ASE
S
MO
TOR
SENS
OR
EXT
POS
SEN
/ DIF
F HA
LL S
WLO
GIC
SU
PPLY
/ C
ON
TRO
LX1
5/X1
6 C
FGX1
7/X1
8 R
T
X1: Motor Supply Regeneration Resistor
X2: Motor Phases
X3: Motor Signal
X13: External Position Sensor
X4: Control Logic Supply
LED State DisplayS1-2: Bus AddressLED State DisplayX17: RealTime ETHERNETX18: "X15: ETHERNET ConfigurationX16: "
S5: Bus TerminationX19: System Configuration RS232X20: Analog In (± 10V)X8: RS485 / CAN OutX7: RS485 / CAN InX11: Master Encoder OutX9: Profibus (only -DP)X10: Master Encoder In
X3
SINCOSTEMP.+5VGND
X1
X2
PH1+PH1-PH2+PH2-
LINEAR MOTOR
BRUSHLESS DC MOTOR
SYSTEMINTERFACE:RS232
RS2323
X19
COMMUNICATIONINTERFACERS485CANOPENDEVICENET
4
2
X8
COMMUNICATIONINTERFACERS485 CANOPENDEVICENET
RS485
CAN
4
2
X7
RS485
CAN
BRAKE
ROTARY MOTOR & SUPPLY PROTECTION
LOGIC SUPPLY
X4
LIMIT SWITCH+LIMIT SWITCH-HOME SWITCHBRAKE OUTPUT
PTC1PTC2
TRIGGER INPUTCAPTURE INPUTANALOG INPUT
SVE
+24VDCGND
FAST PROCESSINPUTS
S1-S2
ID HIGH (S1)
ETHERNET
ID HIGH (S1)
ID LOW (S2)
MASTER ENCODER
A+ STEP+A- STEP-B+ DIRECTION+Z+ ZERO+Z- ZERO-B- DIRECTION-CAN_HCAN_L
X10
MASTER ENCODER
A+ STEP+A- STEP-B+ DIRECTION+Z+ ZERO+Z- ZERO-B- DIRECTION-CAN_HCAN_L
X11
10/100 MBaudINDUSTRIALETHERNET
10/100 MBaudINDUSTRIALETHERNET
6
6
X17 / X18
10/100 MBaudConfigurationETHERNET
10/100 MBaudConfigurationETHERNET
6
6
X15 / X16
PROFIBUS DP PROFIBUS DP
X9 (only on -DP)5
X13
OPTIONALEXTERNALPOSITIONS SENSOR
A+ SIN+A- SIN-B+ COS+B- COS-Z+ ZERO+Z- ZERO-U+U-V+V-W+W-ENC ALARM+5VDCGND
1,2,3-PHASEPOWERSTAGE
24...80V DC8A/15A/25APHASECURRENT
REGENERATION RESISTOR
SUPPLY3x400VAC230VAC115VAC
MOTOR SUPPLY
E12x0-Series
POWERSTAGE ENABLE
SERVO DRIVES
/ SYSTEM OVERVIEW /
11
901EDITION 24SUBJECT TO ALTERATIONS
X3
SINCOSTEMP.+5VGND
X1
X2
PH1+PH1-PH2+PH2-
LINEAR MOTOR
BRUSHLESS DC MOTOR
SYSTEMINTERFACE:RS232
RS2323
X19
COMMUNICATIONINTERFACERS485CANOPENDEVICENET
4
2
X8
COMMUNICATIONINTERFACERS485 CANOPENDEVICENET
RS485
CAN
4
2
X7
RS485
CAN
BRAKE
ROTARY MOTOR & SUPPLY PROTECTION
LOGIC SUPPLY
X4
LIMIT SWITCH+LIMIT SWITCH-HOME SWITCHBRAKE OUTPUT
PTC1PTC2
TRIGGER INPUTCAPTURE INPUTANALOG INPUT
SVE
+24VDCGND
FAST PROCESSINPUTS
S1-S2
ID HIGH (S1)
ETHERNET
ID HIGH (S1)
ID LOW (S2)
MASTER ENCODER
A+ STEP+A- STEP-B+ DIRECTION+Z+ ZERO+Z- ZERO-B- DIRECTION-CAN_HCAN_L
X10
MASTER ENCODER
A+ STEP+A- STEP-B+ DIRECTION+Z+ ZERO+Z- ZERO-B- DIRECTION-CAN_HCAN_L
X11
10/100 MBaudINDUSTRIALETHERNET
10/100 MBaudINDUSTRIALETHERNET
6
6
X17 / X18
10/100 MBaudConfigurationETHERNET
10/100 MBaudConfigurationETHERNET
6
6
X15 / X16
PROFIBUS DP PROFIBUS DP
X9 (only on -DP)5
X13
OPTIONALEXTERNALPOSITIONS SENSOR
A+ SIN+A- SIN-B+ COS+B- COS-Z+ ZERO+Z- ZERO-U+U-V+V-W+W-ENC ALARM+5VDCGND
1,2,3-PHASEPOWERSTAGE
24...80V DC8A/15A/25APHASECURRENT
REGENERATION RESISTOR
SUPPLY3x400VAC230VAC115VAC
MOTOR SUPPLY
E12x0-Series
POWERSTAGE ENABLE
SERVO DRIVES
/ INTERFACES /
11
902EDITION 24
SUBJECT TO ALTERATIONS
X1 MOTOR SUPPLY / REGENERATION RESISTOR
X2 MOTOR PHASES
X3 MOTOR ENCODER
Nr Designation LinMot Linear Motor Color 3-Phase-Motor
1 PH1+ /U Motor Phase 1+ red Motor Phase U
2 PH1- /V Motor Phase 1- pink Motor Phase V
3 PH2+ /W Motor Phase 2+ blue Motor Phase W
4 PH2- /X Motor Phase 2- grey Motor Phase X
5 SCRN Shield
Nr LinMot Linear Motor 3-Phase-Motor
1
2
3 +5VDC +5VDC (Hall Supply)
4 Sensor Sine Hall 1
5 Temperature In Hall 3
6
7
8 AGND AGND ( Hall Supply)
9 Sensor Cosine Hall 2
Case Shield
Screw Terminals:External Regeneration Resistor (RR01-10/60, Art. Nr. 0150-3088)External Fuse: max. 20ATSupply nominal 72VDC (24...85VDC)(See chapter Power Supply Requirements for compatible power supplies.)Absolute max. Rating 72VDC +20%.
If motor supply voltage is exceeds 90VDC, the drive will go into error state. » Tightening torque: 0.5 - 0.6 Nm (4.4 – 5.3 lbin) » Screw thread: M2.5 » Use 60/75°C copper conductors only » Conductor cross-section: use only 2.5 mm2 / AWG 14 » Stripping length: 13-15 mm » Max. length: 4 m
Screw Terminals: » Tightening torque: 0.5 - 0.6 Nm (4.4 – 5.3 lbin) » Screw thread: M2.5 » Use 60/75°C copper conductors only » Conductor cross-section: 0.5 – 2.5 mm2 (depends on Motor current) / AWG 21 -14 » Stripping length 13-15 mm
Use +5VDC (X3.3) and AGND (X3.8) only for motor internal hall sensor supply (max. 100mA).Caution :Do NOT connect AGND (X3.8) to ground or earth!
DSUB-9 (f)
PGND
PWR +
RR +
RR -
GND internally connected to Servo Drive housing
Optional:Regeneration Resistor (external) external Fuse
max. 20AT
4
3
2
1
1
2
3
4
RR
PWR+
PGND
-
+ GND
24...85VDC
GND
1
2
3
4
5SCRN
1+ u
1- v
2+ w
2- x
612345
789
SERVO DRIVES
/ INTERFACES /
11
903EDITION 24SUBJECT TO ALTERATIONS
1
2
3
4
5SCRN
1+ u
1- v
2+ w
2- x
PHASE 2-
PHASE 2+
PHASE 1-
PHASE 1+
Caution:do notconnectX3.1 / 2 / 6 / 7
+5VDC
OUTER SHIELD
GREY
BLUE
PINK
RED
WHITE
INNER SHIELD
YELLOW
GREEN
BLACK AGND
SINE
COSINE
TEMP
612345
789
5
4
3
2
1
6
7
8
9
1
2
3
4
5
X2
X3
Use +5VDC (X3.3) and AGND (X3.8) only for motor internal hall sensor supply (max. 100mA).Caution :Do NOT connect AGND (X3.8) to ground or earth!
X4: 12PIN LOGIC CONTROL / SUPPLY
X3: DSUB-9 (f)
X2: Screw Terminals
Phoenix MC1,5/12-STF-3,5(delivered with drive)
Inputs (X4.3 .. X4.12): Outputs (X4.4 .. X4.11): Brake Output (X4.3):
24V / 5mA (Low Level: –0.5 to 5VDC, High Level: 15 to 30VDC)24V / max.100mA, Peak 370mA (will shut down if exceeded)24V / max.1.0A
X4.12 SVEEnable=24V
X4.11X4.10X4.9X4.8X4.7X4.6X4.5X4.4X4.3 /Brk+24VDCDGND
12
1
LOG
IC S
UPP
LY /
CO
NTR
OL
POWER STAGE ENABLE (HW ENABLE)
CONFIGURABLE IO, PTC 2 INPUT
CONFIGURABLE IO, PTC 1 INPUT
CONFIGURABLE IO
CONFIGURABLE IO
CONFIGURABLE IO, ANALOG INPUT
CONFIGURABLE IO, TRIGGER INPUT
CONFIGURABLE IO
CONFIGURABLE IO, ANALOG INPUT
CONFIGURABLE IO, BRAKE DRIVER 1A
LOGIC SUPPLY 22-26 VDC
GND
4,7kMAX. 100mA
MAX. 100mA
MAX. 100mA
MAX. 100mA
MAX. 100mA
MAX. 100mA
MAX. 100mA
MAX. 100mA
MAX. 1.0A
*
*
*
*
*
*
*
*
*
* ALL OUTPUTS WITH INTERNAL PULL
DOWN RESISTOR 4K7 TO GND
12
11
10
9
8
7
6
5
4
3
2
1
Internal Fuse 3AT
Input X4.12: SVE (PowerStage Enable) must be high for enabling the power stage). If it goes low for more than 0.5ms the PWM generation of the power stage is disabled by hardware.
Supply 24V / typ. 1.1A / max. 2.1A (if all outputs “on” with max. load and brake.)
» Tightening torque: min 0.22Nm » Screw thread: M2 » Use 60/75°C copper conductors only » Conductor cross-section: max. 1.5mm2 » Internal Fuse (F2):3AT (slow blow, Schurter OMT125, 3404.0118.xx, UL File Number: E41599)
CAUTION: For continued protection against risk of fire, replace only with same type and rating of fuse.
SERVO DRIVES
/ INTERFACES /
11
904EDITION 24
SUBJECT TO ALTERATIONS
X7 - X8 RS485/CAN
X9 PROFIBUS DP (ONLY AVAILABLE ON E1230-DP-UC)
X10-X11 MASTER ENCODER IN (X10) / MASTER ENCODER OUT (X11)
Nr1 RS485_Rx+ A
2 RS485_Rx- B
3 RS485_Tx+ Y
4 GND
5 GND
6 RS485_Tx- Z
7 CAN_H
8 CAN_L
Case Shield
Nr1 -
2 -
3 RxD/TxD-P
4 CNTR-P
5 GND (isolated)
6 +5V (isolated)
7 -
8 RxD/TxD-N
9 -
Case Shield
Nr Incremental Step/Direction EIA/TIA 568A colors1 A+ Step+ Green/White
2 A- Step- Green
3 B+ Direction+ Orange/White
4 Z+ Zero+ Blue
5 Z- Zero- Blue/White
6 B- Direction- Orange
7 CAN_H CAN_H Brown/White
8 CAN_L CAN_L Brown
Case Shield Shield
» Use twisted pair (1-2, 3-6, 4-5, 7-8) cable for wiring. » The built in CAN and RS485 terminations can be activated by S5.2 and S5.3. » X7 is internally connected to X8 (1:1 connection)
Max. Baud rate: 12 Mbaud
Use twisted pair (1-2, 3-6, 4-5, 7-8) cable for wiring.Master Encoder Inputs: Diff. RS422, max. counting frequency 25 Mcounts/s, quadrature evaluation,40ns edge separation
Master Encoder Outputs: Amplified RS422 differential signals from Master Encoder IN (X10)The CAN bus can be terminated with S5.4.All devices, which are connected to X10/X11 must be referenced to the same ground.
RJ-45
DSUB-9 (f)
RJ-45
87654321
87654321
612345
789
SERVO DRIVES
/ INTERFACES /
11
905EDITION 24SUBJECT TO ALTERATIONS
X15-X16 ETHERNET CONFIGURATION 10/100MBIT/S
X17-X18 REALTIME ETHERNET 10/100 MBIT/S
X15 Internal 2-Port 10BASE-T and 100BASE-TX Ethernet Switch with Auto MDIX. LEDs on the lower side of the device indicate “Link/Activity” per port, the upper ones are not used.X16
X17 RT ETH InSpecification depends on RT-Bus Type. Please refer to according documentation.
X18 RT ETH Out
RJ-45
RJ-45
X13 EXTERNAL POSITION SENSOR DIFFERENTIAL HALL SWITCHES / SSI
Nr ABZ with Hall Switches Sin / Cos 1 Vpp SSI (only postion recovery)1 +5V DC +5V DC +5VDC
9 A+ Sin+
2 A- Sin-
10 B+ Cos+
3 B- Cos-
11 Z+ Data+
4 Z- Data-
12 Encoder Alarm Encoder Alarm
5 GND GND GND
13 U+
6 U-
14 V+
7 V-
15 W+ Clock+
8 W- Clock-
Case Shield Shield Shield
Position Encoder Inputs ( RS422):
Encoder Simulation Outputs (RS422):
Differential Hall Switch Inputs (RS422):Enc. Alarm In:Sensor Supply:
Max. counting frequency: 25 Mcounts/s with quadrature decoding, 40ns edge separationMax Output Frequency: 2.5MHz, 5 M counts/s with quad-rature decoding, 200ns edge separationInput Frequency: <1kHz5V / 1mA5VDC max 100mA
DSUB-15 (f)
912345678
101112131415
8 181
8 181
SERVO DRIVES
/ INTERFACES /
11
906EDITION 24
SUBJECT TO ALTERATIONS
X19 RS232 CONFIGURATION
X20 ANALOG IN (+-10V DIFFERENTIAL ANALOG INPUT)
S5 BUS TERMINATION / ANIN2 PULL DOWN
Nr Description
1 Do not connect
2 Do not connect
3 RS232 RX
4 GND
5 GND
6 RS232 TX
7 Do not connect
8 Do not connect
case Shield
Nr Description
1 Do not connect
2 Do not connect
3 Analog In-
4 GND
5 GND
6 Analog In+
7 Do not connect
8 Do not connect
case Shield
Switch E1200
S5 Switch 1: AnIn2 Pulldown (4k7 Pulldown on X4.4). Set to ON, if X4.4 is used as digital Output.
Switch 2: Termination Resistor for RS485 on CMD (120R between pin 1 and 2 on X7/X8) on/off
Switch 3: CAN Termination on CMD (120R between pin 7 and 8 on X7/X8) on/off
Switch 4: CAN Termination on ME (120R between pin 7 and 8 on X10/X11) on/off
Factory settings: all switches “off”
RJ-45
RJ-45
S5
Use isolated USB-RS232 converter (Art.-No. 0150-2473) for configuration over RS232.
LEDS STATE DISPLAY
240VOK Green 24V Logic Supply OK
EN Yellow Motor Enabled / Error Code Low Nibble
Warn Yellow Warning / Error Code High Nibble
Error Red Error
RT BUS LEDS
BUS OK Green OK
BUS Error Red Error
The use of these LEDs depends on the type of fieldbus which is used.Please see the corresponding manual for further information.
87654321
87654321
S5
1 2
3
4
on off
24VOKENWarn
Error
BUSOK
BUSError
SERVO DRIVES
/ INTERFACES /
11
907EDITION 24SUBJECT TO ALTERATIONS
S1-2 ADDRESS SELECTORS / BUS TERMINATION
Switch
S1 Bus ID High (0…F). Bit 5 is LSB, bit 8 MSB
S2 Bus ID Low(0…F). Bit 1 is LSB, bit 4 MSB
The use of these switches depends on the type of fieldbus which is used.Please see the corresponding manual for further information.
E12x0 V1
S1
S2
ABCDEF0123456
789
ABCDEF0123456
789
SERVO DRIVES
/ DIMENSIONS /
11
908EDITION 24
SUBJECT TO ALTERATIONS
Servo Drive Series E1200Width mm (in) 40 (1.6)
Height mm (in) 270 (10.6)
Height without fixings mm (in) 233 (9.2)
Depth mm (in) 180 (7.1)
Weight kg (lb) 1.5 (3.3)
Case IP Code IP 20
Mounting screws mm (in) 2 x M5
Mounting distance mm (in) 252 (9.92)
Storage temperature oC -25...40
Transport temperature oC -25...70
Operating temperature oC 0...40 at rated date40...50 with power derating
Relative humidity 95% (non-condensing)
Max. case temperature oC 65
Max. power dissipation W 30
Distance between Drives mm (in) 2050
(0.8) left/right(2) top/bottom
X4.12 SVEEnable=24V
X4.11 IO PTC2
X4.10 IO PTC1
X4.9 IO LIM+
X4.8 IO LIM-
X4.7 IO HSW
X4.6 IO TRIG
X4.5 IO CAP
X4.4 IO AN
X4.3 IO /BRK
+24VDC
DGND24VOKEN
OK
ERROR
ERROR
WARNING
ID HIGH
ID LOW
RT BUS
12
X3 X13
1
X4
S2
S1
X2
X1
MO
T S
UP
PLY
MO
T P
HA
SE
S
MO
TOR
SEN
SOR
EXT
POS
SEN
/ D
IFF
HA
LL S
WLO
GIC
SU
PP
LY /
CO
NTR
OL
X15
/X16
CFG
X17
/X18
RT
252270
233
40
180
Dimensions in mm
CentralPoints
SERVO DRIVES
/ ORDERING INFORMATION /
11
909EDITION 24SUBJECT TO ALTERATIONS
Servo Drives
Item Description Part Number
E1250-PL-UC POWERLINK Servo Drive 72VDC/32A 0150-1760
E1250-PN-UC PROFINET Servo Drive 72VDC/32A 0150-1762
E1250-PD-UC ProfiDrive Servo Drive 72VDC/32A 0150-2620
E1250-EC-UC EtherCAT Servo Drive 72VDC/32A 0150-1763
E1250-SE-UC sercos over EtherCAT Servo Drive 72VDC/32A 0150-1898
E1250-DS-UC EtherCAT CoE Servo Drive 72VDC/32A 0150-2410
E1250-SC-UC sercos Servo Drive 72VDC/32A 0150-1764
E1250-IP-UC ETHERNET IP Servo Drive 72VDC/32A 0150-1761
E1250-LU-UC LinUDP Servo Drive 72VDC/32A 0150-2493
E1230-DP-UC PROFIBUS-DP Servo Drive 72VDC/32A 0150-1766
E1200-GP-UC GENERAL PURPOSE Servo Drive 72VDC/32A 0150-1771
Accessories
Item Description Part Number
Connector for X4 Connector MC 1,5/12-STF-3,5, delivered with drive 0150-3300
SERVO DRIVES
/ NOTES /
11
910EDITION 24
SUBJECT TO ALTERATIONS
SERVO DRIVES
11
911EDITION 24SUBJECT TO ALTERATIONS
Input voltage 230VAC
15A rms peak phase current
Integrated Line Filter
For LinMot P10 Linearmotors & AC servomotors
Integrated Cooling Fan
100 programmable motion profiles
255 storable motion commands
Interface for incremental or absolute sensors
SERIES C1400
SERVO DRIVES
/ PRODUCT DESCRIPTION /
11
912EDITION 24
SUBJECT TO ALTERATIONS
Servo Drive Series C1400
Series C1400 Servo Drives are modular axis drives, with 32-bit position resolution and an integrated power stage 1x240VAC, for linear motors and rotary motors.
The drives are suitable for simplest, standard, and high-end positioning tasks.
The Series C1400 Servo Drives can be actuated by machine controls from many manufacturers or brands, via digital inputs and outputs, or industrial ETHERNET.
Fast process interfaces for direct process-ing of sensor signals are available as freely programmable analog and digital inputs, a fast trigger input, and a capture input.
The safety IO’s on Servo Drives with the-1S option with industrial ETHERNET al-lows safe torque off (STO) of the drives viacontrol signals, without interrupting thepower supply.
In an E-stop and safe stop of the drive, only the motor power supply is cut off from the drive. The logic supply and the drive continue to run.
This has the advantage that the drive andlinear motor do not need to be reinitial-ized when the machine is restarted, since all process data, including the position of the linear motor are still up to date (as long as the logic supply is not turned off).
CONNECTION TO MACHINE DRIVE PROCESS AND SAFETY INTERFACES LOGIC AND POWER SUPPLY
SERVO DRIVES
/ PRODUCT DESCRIPTION /
11
913EDITION 24SUBJECT TO ALTERATIONS
System Integration
Flexible hardware enables control of any 1/2/3- phase motors. Thus, low-power rotary servomotors, such as brushless DC motors, can be integrated in the same controls concept.
Additionally, the drives can be equipped with optional peripherals, such as refer-ence and end stop switches, high-preci-sion external position sensors, or a me-chanical holding brake.
Series C1400 Servo Drives have analog and digital inputs and outputs and ETH-ERNET connections. The user is therefore not dependent on the selection of the overlaid drive. An appropriate interface is available, with associated protocols, for many PLC or IPC solutions.
With flexibility and a compact form factor, LinMot Series C1400 Servo Drives provide a complete solution for a flexible drive concept in single and multiple axes ap-plications, with linear motors and other actuators.
C1400 Servo Drives provide all neces-sary interfaces to operate linear or rotary motors with optional external periph-erals, such as end position and refer-ence switches, a mechanical brake, or a high-resolution external position sensor.
LinMot Talk user-friendly PC software is available for configuration. In addition to online documentation, LinMot Talk pro-vides extensive debugging tools, such as an oscilloscope and an error inspector, for simple and rapid start-up of the Axis.
Fieldbus and ETHERNET drives can also be configured directly by the overlaid control.
MOTOR INTERFACES CONFIGURATION
LogicSupply
TriggerInputs
MotorSupply
1x240VAC
Capture
Safety
Regenera-tion
Resistor
AnalogInputs
RS232
Fieldbusses and interfaces to the overlaid control
LinmotServo DriveSeriesC1400
Position Drive:• 32 Bit Position Value• Resolution 0.1μm
Run Modes:• VA Interpolated Moves• Analog Position• Run Curves• Two Point Trigger
Moves• Streaming P, PV• Step, Direction
Internal stored Curves:• Max. 99 Curves• Up to 15´000 set points
Command Table:• Up to 255 Commands
Optional Limit and Home Switches
Optional Brake
Supp
ly a
nd S
afet
yFa
st P
roce
ss In
puts
Conf
ig.
Optional external Position Sensor
DigitalI/O´s
ProfiDrive
DS402over
EtherCat
EthernetIP
LinUDP Profinet PL
EC
Limit - Switch
Home Switch
Sercos over
EtherCat
Limit + Switch
External Position Sensor
LinMot LinearMotor or otherServo motor(AC Servo, VoiceCoil,...)
SERVO DRIVES
/ OPERATING MODES /
11
914EDITION 24
SUBJECT TO ALTERATIONS
For direct position targets, using absolute or relative positioning, the desired position is reached using acceleration and velocity-limited mo-tion profiles or jerk optimized profiles ( jerk limited and Bestehorn). Po-sitioning commands can be invoked via the serial interfaces, CANopen, DeviceNet, Profibus, Ethernet or a trigger input.
Up to 100 different time curves can be stored Series C1200 drives, with up to 16,000 individual waypoints. The motor can thus travel along time curves of any complexity, such as those generated by CAD programs and stored in the drive (Excel CSV format). The time curves can be invoked via the serial interface, fieldbusses, Ethernet, or the trigger input.
For travel to an absolute position, or shifting by a relative position, any desired motion rules can be stored besides the VA interpolator. They are stored in the drive as motion profiles (Excel CSV format). The po-sitions can be approached, for example, with a sinusoidal motion to optimize power loss, or special reverse optimized motion profiles.
Overlaid NC drives with fieldbus or Ethernet interfaces communicate with the servo drives via “Position Streaming”. The position and velocity calculated in the overlaid control is transmitted to the Servo Drive cycli-cally. The P, PV, or PVT mode is available for this transmission.
INTERPOLATED MOVES
TIME CURVES
PROFILED MOVES
SETPOINT STREAMING
Stroke range:Position Resolution:Velocity Resolution:Acceleration Resol.:
Stroke range:Position Resolution:Motion profiles:Curve points:
Stroke range:Position Resolution:Motion profiles:Curve points:
Position Resolution:Velocity Resolution:Interpolator:Cycle times:
±100 m0.1 μm (32Bit)1.0 μm/s (32Bit)10.0 μm/s2 (32Bit)
±100m0.1 μm (32Bit)Max. 100 Time CurvesMax. 16’000 points
±100m0.1 μm (32Bit)Max. 100 Time CurvesMax. 16’000 points
32 Bit32 Bit8 kHz0.25 - 5 ms
Stroke [mm]
Stroke [mm]
Stroke [mm]
Stroke [mm]
Time [ms]
Time [ms]
Time [ms]
Time [ms]
Goto 100 mmvmax = 2,5 m/samax = 3,0 m/s2
Start Curve 1
Goto Pos 125 mmwith Profil 1
Curve 1
Curve 1
SERVO DRIVES
/ OPERATING MODES /
11
915EDITION 24SUBJECT TO ALTERATIONS
With the Easy Steps function, up to 4 positions or independent travel commands can be stored on the drive, and addressed via 4 digital in-puts or fieldbus interfaces/Ethernet.
Entire motion sequences with up to 255 individual motion commands can be stored in the Command Table. This is primarily advantageous if complete motion sequences need to be executed very quickly, with-out dead time from the overlaid drive. In the Command Table, the pro-grammer has access to all motion commands, internal parameters, and digital inputs and outputs.
For an analog position target, the linear motor travels to a position pro-portional to the input voltage. The position is either scanned continu-ously, or only after a rising edge of the trigger signal. In order to prevent uncontrolled jumps in position, the motor travels to the positions with a programmable maximum acceleration and velocity (VA interpolator).
Easy Steps provide the ability to parameterize internal parameters us-ing two analog inputs. If, for example, the maximum motor current is read at an analog input, then the maximum motor force can be provid-ed as analog for freely programmable joining processes.
EASY STEPS
COMMAND TABLE
ANALOG POSITION
EASY STEPS PARAMETER SCALE
Digital inputs:Interface:Scanning rate:
Commands:Cycle time:
Inputs:Voltage range:Resolution:Scanning rate:
Inputs:Voltage range:Resolution:Scanning rate:
max. 4X4250 μsec
max. 254125 μsec
Analog Input X40-10VDC or ±10V 12 Bit >=125 μsec (adjustable)
2 x Analog0-10VDC12 Bit 250 μsec
Wait Input
Terminate A
Pos 12mm
Rule 1
Start
Stop
10VPosition
0VPosition
Force Max
Maximum Force [0...10V => 0...100%]
Time [ms]0%
100%
Input 1 Pos 125 mm
Input 2 Pos 250 mm
Input 3 Curve 1
Input 4 Pos -30 mm
SERVO DRIVES
/ OPERATING MODES /
11
916EDITION 24
SUBJECT TO ALTERATIONS
Using the force control technology function, precise joining process-es can be implemented reliably and reproducibly with high-precision force control. For force control, the current motor force is measured with a load cell and controlled in the drive. Joining process or quality checks with high requirements for applied force can be implemented.
CLOSED LOOP FORCE CONTROL
Analog input:Resolution:Min. Force Resolution:
0-10V or ±10V12 Bit0.1N
FMot= 0,1...580N
0...10V Fone
Load Cell
SERVO DRIVES
11
917EDITION 24SUBJECT TO ALTERATIONS
/ SYSTEM OVERVIEW /
Interfaces C1450-PN-VS-1S C1450-PD-VS-1S C1450-SC-VS-1S C1450-IP-VS-1S C1450-LU-VS-1S C1450-EC-VS-1S C1450-DS-VS-1S C1450-SE-VS-1S C1450-PL-QN-1S
PROFINET •PROFINET Profidrive •
SERCOS III •ETHERNET IP •LinUDP •ETHERCAT •ETHERCAT CiA402 •
ETHERCAT SoE •
POWERLINK •
X2: Motor PhasesX3: Motor Encoder
X13: External Position Sensor
X33: Safety Relays (only -1S option)
S1: Address SelectorsS2: "
LED: State Display
X4: Logic Supply / IO Connection
X19: Config RS232LED: RT BUS State Display
S5: Bootstrap
X17: RealTime ETHERNETX18: "X30: Motor Supply Mains
8 15
7 14
6 13
5 12
4 11
3 10
2 9
1
PE W
V
U
KT
Y+
KT
Y -
Bra
ke
+
Bra
ke
-
X2 MOTOR PHASES
1 92 103 114 125 13 6 147 158
X3 MOTOR ENCODER
case: S
hie
ld
Moto
r Lin
k C
-
8
Moto
r Lin
k C
+ 15
NC
7N
C
14
NC
6N
C
13
GN
D
5
NC
1
2G
ND
Se
nse
4+
5V
Sense 11
Cos -
3
Cos +
10
Sin
-
2
Sin
+ 9
+5V
1
Before servicing, disconnect supply, wait
5 minutes and measure between PWR+ and
PGND to be sure that the capacitors have
discharged below 42 VDC.
http://www.linmot.com
Avant toute opération de maintenance
déconnecter l'alimentation, attendre 5 minutes
et mesurer la tension entre PWR+ et PGND
pour vérifier si les condensateurs sont
déchargés inférieure à 42 VDC.
Vor dem Arbeiten Versorgung abklemmen,
5 Minuten warten und zwischen PWR+ und
PGND messen, ob die Kondensatoren auf
unter 42 VDC entladen sind.
PE L1
1x2
40
VA
C (
+/-
10
%),
5
0/6
0H
z,
10
A e
xt.
N R
R+
RR
-
X30
MOTOR SUPPLY
PE
X18
X17
REAL TIM E ETHERNET
S5 Bootstrap
On Off
NC 1NC 2
RS232 RX 3
GND 4
GND 5
RS232 TX 6NC 7NC 8
X1
9S
YS
TE
MX
4 L
OG
IC S
UP
PLY
/C
ON
TR
OL
AnIn- 11
AnIn+ 10
AnIn 9
In 8
In 7
In 6
In 5
Out 4
Out 3
ext. 3A, 22-26VDC 2
DGND 1
X13 E
XT
PO
S S
EN
S /
DIF
F H
ALL S
W+5VDC 1
Sens A 9
Sens /A 2
Sens B 10
Sens /B 3
Sens Z 11
Sens /Z 4
Enc. Alarm 12
GND 5
Hall Sw U 13
Hall Sw /U 6
Hall Sw V 14
Hall Sw /V 7
Hall Sw W 15
Hall Sw /W 8
X33 S
TO
RE
LA
IS
Ksr+ 4/8
Ksr- 3/7
Ksr f+ 2/6
Ksr f- 1/5
WARN
ERROR24VOK
EN
X4 L
OG
IC S
UPPL
Y / C
ONT
ROL
1
1
1
11 AIn -10 AIn+9 AIn8 In
7 In
6 In
5 In
4 Out3 Out2 24VDC1 DGND
X19
SYST
EM8
1
OK
RT BUSERROR
BootstrapCAN Term
S1ID
HIG
HS2
ID L
OW
ONOFF
C1450
X13
EXT
POS
SENS
/DI
FF H
ALL
SWX3
3 ST
ORE
LAIS
12
34
56
78
SERVO DRIVES
/ SYSTEM OVERVIEW /
11
918EDITION 24
SUBJECT TO ALTERATIONS
250 μs250 μs125 μs125 μs125 μs
C1450-PN-VS -1SC1450-PD-VS -1SC1450-SC-VS -1SC1450-IP-VS -1SC1450-LU-VS -1SC1450-EC-VS -1SC1450-DS-VS -1SC1450-SE-VS -1SC1450-PL-QN -1S
» Absolute & Relative Positioning » Time based motion profiles » Internally stored Motion Sequences » Position Streaming » Analog Position Target » Analog Parameter Scaling » Winding Function Block » Force Control Technology Function » Customer-Specific Functions
X2: Motor PhasesX3: Motor Encoder
X13: External Position Sensor
X33: Safety Relays (only for -1S option)
S1: Address SelectorsS2: "
LED: State Display
X4: Logic Supply / IO Connection
X19: Config RS232LED: RT BUS State Display
S5: Bootstrap
X17: RealTime ETHERNETX18: "X30: Motor Supply Mains
8 15
7 14
6 13
5 12
4 11
3 10
2 9
1
PE W
V
U
KT
Y+
KT
Y -
Bra
ke+
Bra
ke
-
X2 MOTOR PHASES
1 92 103 114 125 13 6 147 158
X3 MOTOR ENCODER
ca
se
: S
hie
ld
Moto
r Lin
k C
-
8
Moto
r Lin
k C
+ 15
NC
7
NC
14
NC
6
NC
13
GN
D 5
NC
12
GN
D S
ense 4
+5
V S
en
se
1
1C
os -
3
Co
s +
10
Sin
-
2
Sin
+
9+
5V
1
Before servicing, disconnect supply, wait
5 minutes and measure between PWR+ and
PGND to be sure that the capacitors have
discharged below 42 VDC.
http://www.linmot.com
Avant toute opération de maintenance
déconnecter l'alimentation, attendre 5 minutes
et mesurer la tension entre PWR+ et PGND
pour vérifier si les condensateurs sont
déchargés inférieure à 42 VDC.
Vor dem Arbeiten Versorgung abklemmen,
5 Minuten warten und zwischen PWR+ und
PGND messen, ob die Kondensatoren auf
unter 42 VDC entladen sind.
PE L1 1
x240V
AC
(+
/-10%
),
5
0/6
0H
z, 10A
ext.
N R
R+
RR
-
X30
MOTOR SUPPLY
PE
X18
X17
REAL TIM E ETHERNET
S5 Bootstrap
On Off
NC 1NC 2
RS232 RX 3
GND 4
GND 5
RS232 TX 6NC 7NC 8
X19
SY
ST
EM
X4 L
OG
IC S
UP
PLY
/C
ON
TR
OL
AnIn- 11
AnIn+ 10
AnIn 9
In 8
In 7
In 6
In 5
Out 4
Out 3
ext. 3A, 22-26VDC 2
DGND 1
X13 E
XT
PO
S S
EN
S /
DIF
F H
ALL S
W+5VDC 1
Sens A 9
Sens /A 2
Sens B 10
Sens /B 3
Sens Z 11
Sens /Z 4
Enc. Alarm 12
GND 5
Hall Sw U 13
Hall Sw /U 6
Hall Sw V 14
Hall Sw /V 7
Hall Sw W 15
Hall Sw /W 8
X3
3 S
TO
RE
LA
IS
Ksr+ 4/8
Ksr- 3/7
Ksr f+ 2/6
Ksr f- 1/5
WARN
ERROR24VOK
EN
X4 L
OG
IC S
UPPL
Y / C
ONT
ROL
1
1
1
11 AIn -10 AIn+9 AIn8 In
7 In
6 In
5 In
4 Out3 Out2 24VDC1 DGND
X19
SYST
EM8
1
OK
RT BUSERROR
BootstrapCAN Term
S1ID
HIG
HS2
ID L
OW
ONOFF
C1450
X13
EXT
POS
SENS
/DI
FF H
ALL
SWX3
3 ST
ORE
LAIS
12
34
56
78
Series C1400 drives allow integration of Lin-Mot linear motors in controls concepts with industrial Ethernet interfaces. The user can integrate Series C1400 drives regardless of the provider of the overlaid control.
LinMot drives are available with common industrial Ethernet protocols. Since all Eth-ernet drives have the same motion com-mand interface, and the control and status word are identical, software blocks that have been implemented once can be trans-ferred to other drives without a problem.
Series C1400 servo drives support the fol-lowing industrial Ethernet protocols:
» Profinet » EtherCAT » Ethernet IP » PowerLink » Sercos III » Sercos over EtherCAT
The appropriate drive is available for each protocol.
INDUSTRIAL ETHERNET TECHNICAL DATA
Type:Switch/Hub:
Transfer rate:
Minimal cycle times: Bus cycle: IO update: Trigger Input: Position control loop: Current control loop:
Realtime ETHERNETIntegrated 2-PortHub/Switch10/100MBit/sec
SERVO DRIVES
/ SYSTEM OVERVIEW /
11
919EDITION 24SUBJECT TO ALTERATIONS
X3
ENCODERSUPPLY(5VDC WITH SENSE)
SIN (1VPP)
COS (1VPP)
MOTOR LINK C
X30
X2
U, V, WMOTOR BREAKPE, SHIELD
3-phase Powerstage
Motor Encoder
32 LINEAR MOTOR
ROTARYSERVOMOTOR
C1450-Series
SYSTEMINTERFACE:RS232
RS2323
X19
S1-S2
ID HIGH
ID LOW
ETHERNET
10/100 MBaudINDUSTRIALETHERNET
10/100 MBaudINDUSTRIALETHERNET
8
8
X17 / X18
X13
A+A-B+B-Z+Z-U+U-V+V-W+W-ENC ALARM+5VDCGND
OPTIONALEXTERNALPOSITIONSENSOR
MAINS
REGENERATION RESISTOR
PELN
MAINS SUPPLY1 X 240 VACTN SYSTEM
RR+RR-
REGENERATIONREGENERATION
CIRCUITBREAKER
PE
ANALOGINPUT
X4
ANALOGINPUT+ANALOGINPUT-ANALOGINPUT
DIGITALINPUTS
DIGITAL OUTPUTS
+24VDCGND
FAST PROCESSINPUTS
OUTPUTS
LOGIC SUPPLY
MACHINE SAFETY (-1S)8
X33
Ksr1 / Ksr2Ksr1 / Ksr2
SERVO DRIVES
/ INTERFACES /
11
920EDITION 24
SUBJECT TO ALTERATIONS
X2 MOTOR PHASES
X30 MOTOR SUPPLY MAINS / REGENERATION RESISTOR
X3 MOTOR ENCODER (MOTOR LINK C) / NOT AVAILABLE ON -CO DRIVES!
Designation
RR- Regeneration Resistor
RR+ Regeneration Resistor
N Neutral (TN system with grounded Neutral)
L Line 1 (1x240VAC (+-10%) 50/60Hz external fuse: max.10A)
PE Protective Earth
Nr Designation
W Motor Phase W
v Motor Phase V
U Motor Phase U
PE Protective Earth
T+ Temperature Sensor KTY+
T- Temperature Sensor KTY-
B+ Motor Brake+
B- Motor Brake-
Screw Terminals: » Tightening torque: 0.5 - 0.6 Nm » Screws: M3 » Use 60/75°C copper conductors only » Conductor cross-section: 2.5 mm2
(AWG 12) » Stripping length 7 mm
Screw Terminals: » Spring-cage connector » Use 60/75°C copper conductors only » Conductor cross-section: 0.2–2.5 mm2
(depends on Motor current)/AWG 24-12 » Stripping length 10 mm
Motor Link C is a high speed serial communication protocol to the motor encoder
Screw connector
Spring cage connector
LinMot Article Number: 0150-3607 (DC01-C1400/X30)
Operating of the drive is only allowed with the above article! No other type of connector shall be used!
LinMot Article Number: 0150-3605
Operating of the drive is only allowed with the above article! No other type of connector shall be used!
The Shield of the motor cable has to be mounted with a sur-face as large as possible (low ohm, low impedance). Use an EMC shield clamp for fixing.
Attention: An isolated ther-mistor is necessary! Especial-ly LinMot D01 and D02 Motors can not be connected!
DSUB-15 (m)
RR-
RR+
N
L
PE
RR-
RR+
N
L
PE
Drive-Side Motor-Side
W
V
U
PE
T+
T-
B+
B-
Drive-Side Motor-Side
W
V
U
PE
T+
T-
B+
B-
1254321
1110
9
876
151413
Nr Description8 Motor Link C-
15 Motor Link C+
7 do not connect
14 do not connect
6 do not connect
13 do not connect
5 GND
12 do not connect
4 GND Sense
11 +5V Sense
3 Cos-
10 Cos+
2 Sin-
9 Sin+
1 +5V-
Case Shield
Line filter is integrated into the drive.
SERVO DRIVES
/ INTERFACES /
11
921EDITION 24SUBJECT TO ALTERATIONS
X4 LOGIC SUPPLY / IO CONNECTION
X13 EXTERNAL POSITION SENSOR DIFFERENTIAL HALL SWITCHES
Nr Description11 Anln- X4.11 Configurable Analog Input deifferentiell (with X4.10)
10 Anln+ X4.10 Configurable Analog Input deifferentiell (with X4.11)
9 Anln X4.9 Configurable Analog Input single ended
8 ln X4.8 Configurable Input
7 ln X4.7 Configurable Input
6 ln X4.6 Configurable Input
5 ln X4.5 Configurable Input
4 Out X4.4 Configurable Output
3 Out X4.3 Configurable Output
2 +24VDC Supply Logic Supply 22-26 VDC
1 GND Supply Ground
» Use 60/75°C copper conductors only » Conductor cross-section max. 1.5 mm2
» Stripping length: 10 mm » The 24VDC supply for the control circuit (X4.2) must be protected with an external fuse (3A slow blow)
Inputs (X4.5 .. X4.8): 24V / 5mA (Low Level: –0.5 to 5VDC, High Level: 15 to 30VDC)Outputs (X4.3 .. X4.4): 24V / max.100mA, Peak 370mA (will shut down if exceeded) Analog Inputs: 12 bit A/D convertedX4.9: Single ended analog input to GND, 0..10V, Input Resistance 51kΩhm to GNDX4.10/X4.11: Differential analog input, +/-10V, Common mode range +/-5VDC to GND Input resistance 11.4kOhm for each signal to GND.
Spring cage connector
DSUB-15 (f)
LinMot Article Number: 0150-3447 (DC01-Signal/X4)
Operating of the drive is only allowed with the above article! No other type of connector shall be used!
Nr SSI / BiSS / EnDat1 +5V DC
9 A+
2 A-
10 B+
3 B-
11 Z+
4 Z-
12 Encoder Alarm
5 GND
13 U+
6 U-
14 V+
7 V-
15 W+
8 W-
Case Shield
X4. 11X4. 10X4. 9X4. 8X4. 7X4. 6X4. 5X4. 4X4. 3+24VDCDGND
1 L
OG
IC S
UPP
LY /
CO
NTR
OL
11
Position Encoder Inputs (RS422): Max Input Frequency: 25 M counts/s with quadrature decoding, 40ns edge separationEncoder Simulation Outputs (RS422): Max Output Frequency: 4 M counts/s with quadrature decoding, 250ns edge separationDifferential Hall Switch Inputs (RS422): Input Frequency: <1kHzEnc. Alarm In: 5V / 1mASensor Supply: 5VDC max. 100mA / 9VDC 100mA (SW selectable)
912345678
101112131415
SERVO DRIVES
/ INTERFACES /
11
922EDITION 24
SUBJECT TO ALTERATIONS
X19 SYSTEM
Nr Description
1 Do not connect
2 Do not connect
3 RS232 Rx
4 GND
5 GND
6 RS232 Tx
7 Do not connect
8 Do not connect
X17 - X18 REALTIME ETHERNET 10/100 MBIT/S (NOT AVAILABLE ON -CO DRIVES)
NrX17 RT ETH In Specification depends on RT-Bus.
Please refer to interface documentation.X18 RT ETH Out -
RJ-45
RJ-45
X17
X18
8
18
1
Use isolated USB-RS232 converter (Art.-No. 0150-2473) for configuration over RS232.
1
X19
2345678
SERVO DRIVES
/ INTERFACES /
11
923EDITION 24SUBJECT TO ALTERATIONS
Switch
S1 (5..8) Bus ID High (0 ... F). Bit 5 is the LSB, bit 8 the MSB.
S2 (1..4) Bus ID Low (0 ... F). Bit 1 is the LSB, bit 4 the MSB.
S1 -S2 ADDRESS SELECTORS
S5 BOOTSTRAP
The use of these switches depends on the type of fieldbus which is used. Please see the corresponding manual forfurther information.
The switch is used for initial programming. Make sure the switch is in position "off". Otherwise the drive will not start up.
LEDS STATE DISPLAY
240VOK Green 24V Logic Supply OK
EN Yellow Motor Enabled / Error Code Low Nibble
Warn Yellow Warning / Error Code High Nibble
Error Red Error
RT BUS LEDS
BUS OK Green OK
BUS Error Red Error
The use of these LEDs depends on the type of fieldbus which is used.Please see the corresponding manual for further information.
24VOKENWarn
Error
BUSOK
BUSError
12
34
56
78
O N
SERVO DRIVES
/ DIMENSIONS /
11
924EDITION 24
SUBJECT TO ALTERATIONS
Servo Drive Series C14x0-...-1SWidth mm (in) 43.5 (1.71)
Height mm (in) 235 (9.25)
Depth mm (in) 193 (7.60)
Weight kg (lb)
Mounting Backside 2 x M4Bottom Side 4 x M4
Case IP Code IP 20
Storage temperature oC -25…40
Transport temperature oC -25…70
Operating temperature oC 0…40
Relative humidity 95% (non-condensing)
Pollution IEC/EN 60664-1 Pollution degree 2
Shock resistance (16 ms) -1S option 2 g
Vibration resistance (10-200 Hz) -1S option 1 g
Max. Case Temperature oC 90
Max. Power Dissipation W 100
Mounting place In the control cabinet
Mounting position vertical
Distance between drives mm (in) ≥ 200 (8) top /bottomDrives with fans can be mounted vertically side by side
8
15
7
14
6
13
5
12
4
11
3
10
2
91
X2 MOTOR PHASES
1 92 103 114 125 13 6 147 158
X3 MOTOR ENCODER
case: S
hie
ld
Mo
tor
Lin
k C
-
8
Moto
r Lin
k C
+ 15
NC
7N
C
14
NC
6N
C
13
GN
D
5
NC
1
2G
ND
Se
nse
4+
5V
Sense 11
Co
s
-
3C
os +
10
Sin
-
2
Sin
+ 9
+5V
1
Before servicing, disconnect supply, wait
5 minutes and measure between PWR+ and
PGND to be sure that the capacitors have
discharged below 42 VDC.
http://www.linmot.com
Avant toute opération de maintenance
déconnecter l'alimentation, attendre 5 minutes
et mesurer la tension entre PWR+ et PGND
pour vérifier si les condensateurs sont
déchargés inférieure à 42 VDC.
Vor dem Arbeiten Versorgung abklemmen,
5 Minuten warten und zwischen PWR+ und
PGND messen, ob die Kondensatoren auf
unter 42 VDC entladen sind.
PE
L1 1
x240V
AC
(+
/-10%
),
5
0/6
0H
z, 10A
ext.
N
RR
+
RR
-
X30 MOTOR SUPPLY PE
X18 X17
REAL TIM E ETHERNET S5 Bootstrap On Off
NC 1NC 2RS232 RX 3GND 4GND 5RS232 TX 6NC 7NC 8 X19
SY
ST
EM
X4 L
OG
IC S
UP
PLY
/C
ON
TR
OL
AnIn- 11AnIn+ 10
AnIn 9 In 8 In 7 In 6 In 5
Out 4 Out 3ext. 3A, 22-26VDC 2
DGND 1
X13 E
XT
PO
S S
EN
S /
DIF
F H
ALL S
W
+5VDC 1Sens A 9Sens /A 2Sens B 10Sens /B 3Sens Z 11Sens /Z 4Enc. Alarm 12GND 5Hall Sw U 13Hall Sw /U 6Hall Sw V 14Hall Sw /V 7Hall Sw W 15Hall Sw /W 8
X33 S
TO
RE
LA
IS
Ksr+ 4/8Ksr- 3/7
Ksr f+ 2/6Ksr f- 1/5
221
227235
198
35
WARN
ERROR
24VOK
EN
X4 L
OG
IC S
UPPL
Y / C
ONT
ROL
1
1
1
11 AIn -
10 AIn+
9 AIn
8 In
7 In
6 In
5 In
4 Out
3 Out
2 24VDC
1 DGND
X19
SYST
EM8
1
OK
RT BUSERROR
Bootstrap
CAN Term
S1ID
HIG
HS2
ID L
OW
ON
OFF
C1450
X13
EXT
POS
SENS
/DI
FF H
ALL
SWX3
3 ST
ORE
LAIS
12
34
56
78
910
W
V
U
PE
T+
T-
B+
B-
Centers
Dimensions in mm
C14x0-...-1S
SERVO DRIVES
/ ORDERING INFORMATION /
11
925EDITION 24SUBJECT TO ALTERATIONS
Servo Drives
Item Description Part Number
C1450-SE-VS-1S-000 EtherCAT SoE Drive (1x240V/20A), STO 0150-2660
C1450-SC-VS-1S-000 Sercos III Drive (1x240V/20A), STO 0150-2659
C1450-PN-VS-1S-000 ProfiNet Drive (1x240V/20A), STO 0150-2658
C1450-PL-VS-1S-000 POWERLINK Drive (1x240V/20A), STO 0150-2656
C1450-PD-VS-1S-000 PROFIdrive Drive (1x240V/20A), STO 0150-2664
C1450-IP-VS-1S-000 Ethernet/IP Drive (1x240V/20A), STO 0150-2666
C1450-EC-VS-1S-000 EtherCAT Drive (1x240V/20A), STO 0150-2657
C1450-DS-VS-1S-000 EtherCAT CoE Drive (1x240V/20A), STO 0150-2665
C1400-LU-VS-1S-000 LinUDP Drive (1x240V/20A), STO 0150-2667
SERVO DRIVES
/ NOTES /
11
926EDITION 24
SUBJECT TO ALTERATIONS
SERVO DRIVES
11
927EDITION 24SUBJECT TO ALTERATIONS
3x400...480VAC
Controls LinMot motors / AC servomotors
Time Curves
Real Time (Streaming)
Synchronous control (Drive profiles)
Master Encoder Synchronization (In/Out)
PLC or Stand-Alone Solutions
Industrial Ethernet Configuration / Remote Access Ethernet
Safe Torque Off
Safe Limited Speed Ready
Interface for optional incremental and absolute sensor
Position Encoder Simulation (RS 422)
Master / Slave Solutions
± 10 VDC Force Control
Supports Plug and Play
SERIES E1400